[ { "id": "droid_molmo_sam2_episode_2405", "task": "Straighten the white towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2405/0000.jpg", "droid_molmo_sam2/images/episode_2405/0244.jpg", "droid_molmo_sam2/images/episode_2405/0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the white towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the white towel, execute the following phases: 1) Initial approach phase (start at [0.624, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.539]). The trajectory involves 385 precise waypoints with total movement distance of 2.385." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2405", "trajectory_length": 385, "key_frame_indices": [ 0, 244, 384 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2405.json" } }, { "id": "droid_molmo_sam2_episode_33440", "task": "Pick up the marker and move it to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33440/0000.jpg", "droid_molmo_sam2/images/episode_33440/0102.jpg", "droid_molmo_sam2/images/episode_33440/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and move it to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the marker and move it to the left, execute the following phases: 1) Initial approach phase (start at [0.340, 0.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.418]). The trajectory involves 193 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33440", "trajectory_length": 193, "key_frame_indices": [ 0, 102, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33440.json" } }, { "id": "droid_molmo_sam2_episode_34269", "task": "Move the mug to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34269/0000.jpg", "droid_molmo_sam2/images/episode_34269/0125.jpg", "droid_molmo_sam2/images/episode_34269/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left., execute the following phases: 1) Initial approach phase (start at [0.593, 0.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.495]). The trajectory involves 164 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34269", "trajectory_length": 164, "key_frame_indices": [ 0, 125, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34269.json" } }, { "id": "droid_molmo_sam2_episode_36526", "task": "Use the towel to wipe the left side of the armrest.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36526/0000.jpg", "droid_molmo_sam2/images/episode_36526/0319.jpg", "droid_molmo_sam2/images/episode_36526/0478.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the left side of the armrest.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the left side of the armrest., execute the following phases: 1) Initial approach phase (start at [0.473, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.908]). The trajectory involves 479 precise waypoints with total movement distance of 1.668." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36526", "trajectory_length": 479, "key_frame_indices": [ 0, 319, 478 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36526.json" } }, { "id": "droid_molmo_sam2_episode_36524", "task": "Move the tap to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36524/0000.jpg", "droid_molmo_sam2/images/episode_36524/0102.jpg", "droid_molmo_sam2/images/episode_36524/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.625, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.442]). The trajectory involves 113 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36524", "trajectory_length": 113, "key_frame_indices": [ 0, 102, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36524.json" } }, { "id": "droid_molmo_sam2_episode_1128", "task": "Pick up the purple object from the table and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1128/0000.jpg", "droid_molmo_sam2/images/episode_1128/0130.jpg", "droid_molmo_sam2/images/episode_1128/0164.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the purple object from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.662, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.484]). The trajectory involves 165 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1128", "trajectory_length": 165, "key_frame_indices": [ 0, 130, 164 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1128.json" } }, { "id": "droid_molmo_sam2_episode_30117", "task": "Move the plastic bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30117/0000.jpg", "droid_molmo_sam2/images/episode_30117/0092.jpg", "droid_molmo_sam2/images/episode_30117/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plastic bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plastic bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.363, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.409]). The trajectory involves 138 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30117", "trajectory_length": 138, "key_frame_indices": [ 0, 92, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30117.json" } }, { "id": "droid_molmo_sam2_episode_39623", "task": "Move the rubber duck to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39623/0000.jpg", "droid_molmo_sam2/images/episode_39623/0130.jpg", "droid_molmo_sam2/images/episode_39623/0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the rubber duck to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the rubber duck to the right, execute the following phases: 1) Initial approach phase (start at [0.720, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.373]). The trajectory involves 257 precise waypoints with total movement distance of 1.439." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39623", "trajectory_length": 257, "key_frame_indices": [ 0, 130, 256 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39623.json" } }, { "id": "droid_molmo_sam2_episode_34187", "task": "Move the bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34187/0000.jpg", "droid_molmo_sam2/images/episode_34187/0077.jpg", "droid_molmo_sam2/images/episode_34187/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.543, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.469]). The trajectory involves 138 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34187", "trajectory_length": 138, "key_frame_indices": [ 0, 77, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34187.json" } }, { "id": "droid_molmo_sam2_episode_432", "task": "Move the pumpkin to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_432/0000.jpg", "droid_molmo_sam2/images/episode_432/0139.jpg", "droid_molmo_sam2/images/episode_432/0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pumpkin to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pumpkin to the right, execute the following phases: 1) Initial approach phase (start at [0.368, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.315]). The trajectory involves 248 precise waypoints with total movement distance of 0.863." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_432", "trajectory_length": 248, "key_frame_indices": [ 0, 139, 247 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_432.json" } }, { "id": "droid_molmo_sam2_episode_32457", "task": "Remove the orange marker from the bowl and put it on my table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32457/0000.jpg", "droid_molmo_sam2/images/episode_32457/0135.jpg", "droid_molmo_sam2/images/episode_32457/0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange marker from the bowl and put it on my table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the orange marker from the bowl and put it on my table, execute the following phases: 1) Initial approach phase (start at [0.434, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.559]). The trajectory involves 155 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32457", "trajectory_length": 155, "key_frame_indices": [ 0, 135, 154 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32457.json" } }, { "id": "droid_molmo_sam2_episode_36050", "task": "Put the towel in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36050/0000.jpg", "droid_molmo_sam2/images/episode_36050/0581.jpg", "droid_molmo_sam2/images/episode_36050/0584.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel in the box, execute the following phases: 1) Initial approach phase (start at [0.206, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.453]). The trajectory involves 585 precise waypoints with total movement distance of 2.035." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36050", "trajectory_length": 585, "key_frame_indices": [ 0, 581, 584 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36050.json" } }, { "id": "droid_molmo_sam2_episode_3697", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3697/0000.jpg", "droid_molmo_sam2/images/episode_3697/0237.jpg", "droid_molmo_sam2/images/episode_3697/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.620, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.740]). The trajectory involves 266 precise waypoints with total movement distance of 0.372." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3697", "trajectory_length": 266, "key_frame_indices": [ 0, 237, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3697.json" } }, { "id": "droid_molmo_sam2_episode_6705", "task": "Pick up the book from the cabinet and put it by the window.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6705/0000.jpg", "droid_molmo_sam2/images/episode_6705/0138.jpg", "droid_molmo_sam2/images/episode_6705/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the book from the cabinet and put it by the window.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the book from the cabinet and put it by the window., execute the following phases: 1) Initial approach phase (start at [0.438, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.859, 0.331]). The trajectory involves 237 precise waypoints with total movement distance of 1.060." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6705", "trajectory_length": 237, "key_frame_indices": [ 0, 138, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6705.json" } }, { "id": "droid_molmo_sam2_episode_32277", "task": "Wipe the table with the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32277/0000.jpg", "droid_molmo_sam2/images/episode_32277/0293.jpg", "droid_molmo_sam2/images/episode_32277/0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the towel, execute the following phases: 1) Initial approach phase (start at [0.526, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.614]). The trajectory involves 455 precise waypoints with total movement distance of 2.646." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32277", "trajectory_length": 455, "key_frame_indices": [ 0, 293, 454 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32277.json" } }, { "id": "droid_molmo_sam2_episode_200", "task": "Fold the towel once on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_200/0000.jpg", "droid_molmo_sam2/images/episode_200/0229.jpg", "droid_molmo_sam2/images/episode_200/0298.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel once on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel once on the table, execute the following phases: 1) Initial approach phase (start at [0.557, 0.884]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.857]). The trajectory involves 299 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_200", "trajectory_length": 299, "key_frame_indices": [ 0, 229, 298 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_200.json" } }, { "id": "droid_molmo_sam2_episode_95", "task": "Straighten out the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_95/0000.jpg", "droid_molmo_sam2/images/episode_95/0216.jpg", "droid_molmo_sam2/images/episode_95/0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten out the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten out the towel, execute the following phases: 1) Initial approach phase (start at [0.548, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.588]). The trajectory involves 281 precise waypoints with total movement distance of 1.471." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_95", "trajectory_length": 281, "key_frame_indices": [ 0, 216, 280 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_95.json" } }, { "id": "droid_molmo_sam2_episode_34172", "task": "Remove the can from the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34172/0000.jpg", "droid_molmo_sam2/images/episode_34172/0101.jpg", "droid_molmo_sam2/images/episode_34172/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the can from the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the can from the sink, execute the following phases: 1) Initial approach phase (start at [0.483, 0.935]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.798]). The trajectory involves 229 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34172", "trajectory_length": 229, "key_frame_indices": [ 0, 101, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34172.json" } }, { "id": "droid_molmo_sam2_episode_30728", "task": "Fold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30728/0000.jpg", "droid_molmo_sam2/images/episode_30728/0361.jpg", "droid_molmo_sam2/images/episode_30728/0474.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.546, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.515]). The trajectory involves 475 precise waypoints with total movement distance of 0.460." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30728", "trajectory_length": 475, "key_frame_indices": [ 0, 361, 474 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30728.json" } }, { "id": "droid_molmo_sam2_episode_35271", "task": "Put the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35271/0000.jpg", "droid_molmo_sam2/images/episode_35271/0088.jpg", "droid_molmo_sam2/images/episode_35271/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.564, 0.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.515]). The trajectory involves 138 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35271", "trajectory_length": 138, "key_frame_indices": [ 0, 88, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35271.json" } }, { "id": "droid_molmo_sam2_episode_2417", "task": "Move the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2417/0000.jpg", "droid_molmo_sam2/images/episode_2417/0061.jpg", "droid_molmo_sam2/images/episode_2417/0077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth, execute the following phases: 1) Initial approach phase (start at [0.633, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.421]). The trajectory involves 78 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2417", "trajectory_length": 78, "key_frame_indices": [ 0, 61, 77 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2417.json" } }, { "id": "droid_molmo_sam2_episode_31088", "task": "Move the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31088/0000.jpg", "droid_molmo_sam2/images/episode_31088/0068.jpg", "droid_molmo_sam2/images/episode_31088/0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.391, 0.406]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.465]). The trajectory involves 91 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31088", "trajectory_length": 91, "key_frame_indices": [ 0, 68, 90 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31088.json" } }, { "id": "droid_molmo_sam2_episode_1889", "task": "Open the laptop, then turn it on and wipe its screen", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1889/0000.jpg", "droid_molmo_sam2/images/episode_1889/0272.jpg", "droid_molmo_sam2/images/episode_1889/0427.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the laptop, then turn it on and wipe its screen?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the laptop, then turn it on and wipe its screen, execute the following phases: 1) Initial approach phase (start at [0.335, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.574]). The trajectory involves 428 precise waypoints with total movement distance of 1.411." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1889", "trajectory_length": 428, "key_frame_indices": [ 0, 272, 427 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1889.json" } }, { "id": "droid_molmo_sam2_episode_36774", "task": "Put the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36774/0000.jpg", "droid_molmo_sam2/images/episode_36774/0063.jpg", "droid_molmo_sam2/images/episode_36774/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.417, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.536]). The trajectory involves 103 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36774", "trajectory_length": 103, "key_frame_indices": [ 0, 63, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36774.json" } }, { "id": "droid_molmo_sam2_episode_28", "task": "Slide the tap to the center of the sink and press down the tap handle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_28/0000.jpg", "droid_molmo_sam2/images/episode_28/0077.jpg", "droid_molmo_sam2/images/episode_28/0373.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the tap to the center of the sink and press down the tap handle?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the tap to the center of the sink and press down the tap handle, execute the following phases: 1) Initial approach phase (start at [0.547, 0.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.276]). The trajectory involves 374 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_28", "trajectory_length": 374, "key_frame_indices": [ 0, 77, 373 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_28.json" } }, { "id": "droid_molmo_sam2_episode_6745", "task": "Slide the lid to open the drinking hole of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6745/0000.jpg", "droid_molmo_sam2/images/episode_6745/0105.jpg", "droid_molmo_sam2/images/episode_6745/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the lid to open the drinking hole of the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the lid to open the drinking hole of the cup, execute the following phases: 1) Initial approach phase (start at [0.695, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.695, 0.905]). The trajectory involves 124 precise waypoints with total movement distance of 0.099." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6745", "trajectory_length": 124, "key_frame_indices": [ 0, 105, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6745.json" } }, { "id": "droid_molmo_sam2_episode_36632", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36632/0000.jpg", "droid_molmo_sam2/images/episode_36632/0135.jpg", "droid_molmo_sam2/images/episode_36632/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.345, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.669]). The trajectory involves 167 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36632", "trajectory_length": 167, "key_frame_indices": [ 0, 135, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36632.json" } }, { "id": "droid_molmo_sam2_episode_4481", "task": "Push the faucet to the center of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4481/0000.jpg", "droid_molmo_sam2/images/episode_4481/0191.jpg", "droid_molmo_sam2/images/episode_4481/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet to the center of the sink?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet to the center of the sink, execute the following phases: 1) Initial approach phase (start at [0.438, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.667]). The trajectory involves 289 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4481", "trajectory_length": 289, "key_frame_indices": [ 0, 191, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4481.json" } }, { "id": "droid_molmo_sam2_episode_6317", "task": "Remove the grey shirt from the backrest of the black chair then place it on the right side of the sofa", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6317/0000.jpg", "droid_molmo_sam2/images/episode_6317/0253.jpg", "droid_molmo_sam2/images/episode_6317/0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the grey shirt from the backrest of the black chair then place it on the right side of the sofa?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the grey shirt from the backrest of the black chair then place it on the right side of the sofa, execute the following phases: 1) Initial approach phase (start at [0.721, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.730, 0.487]). The trajectory involves 306 precise waypoints with total movement distance of 1.310." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6317", "trajectory_length": 306, "key_frame_indices": [ 0, 253, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6317.json" } }, { "id": "droid_molmo_sam2_episode_4071", "task": "Remove the black clothing from the topmost drawer on the left and put it inside the topmost drawer on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4071/0000.jpg", "droid_molmo_sam2/images/episode_4071/0116.jpg", "droid_molmo_sam2/images/episode_4071/0196.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?" }, { "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, execute the following phases: 1) Initial approach phase (start at [0.555, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.313]). The trajectory involves 197 precise waypoints with total movement distance of 1.232." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4071", "trajectory_length": 197, "key_frame_indices": [ 0, 116, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4071.json" } }, { "id": "droid_molmo_sam2_episode_375", "task": "Move the blue block to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_375/0000.jpg", "droid_molmo_sam2/images/episode_375/0073.jpg", "droid_molmo_sam2/images/episode_375/0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue block to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue block to the left, execute the following phases: 1) Initial approach phase (start at [0.722, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.619, 0.471]). The trajectory involves 97 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_375", "trajectory_length": 97, "key_frame_indices": [ 0, 73, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_375.json" } }, { "id": "droid_molmo_sam2_episode_1954", "task": "Put the marker in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1954/0000.jpg", "droid_molmo_sam2/images/episode_1954/0155.jpg", "droid_molmo_sam2/images/episode_1954/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.480, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.409]). The trajectory involves 233 precise waypoints with total movement distance of 1.088." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1954", "trajectory_length": 233, "key_frame_indices": [ 0, 155, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1954.json" } }, { "id": "droid_molmo_sam2_episode_7150", "task": "Remove the white cloth from the black stand and place it on the black table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7150/0000.jpg", "droid_molmo_sam2/images/episode_7150/0168.jpg", "droid_molmo_sam2/images/episode_7150/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cloth from the black stand and place it on the black table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cloth from the black stand and place it on the black table, execute the following phases: 1) Initial approach phase (start at [0.431, 0.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.601]). The trajectory involves 188 precise waypoints with total movement distance of 1.214." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7150", "trajectory_length": 188, "key_frame_indices": [ 0, 168, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7150.json" } }, { "id": "droid_molmo_sam2_episode_39794", "task": "Put the orange plastic cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39794/0000.jpg", "droid_molmo_sam2/images/episode_39794/0059.jpg", "droid_molmo_sam2/images/episode_39794/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange plastic cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange plastic cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.484, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.545]). The trajectory involves 101 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39794", "trajectory_length": 101, "key_frame_indices": [ 0, 59, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39794.json" } }, { "id": "droid_molmo_sam2_episode_34788", "task": "Move the blue marker forwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34788/0000.jpg", "droid_molmo_sam2/images/episode_34788/0094.jpg", "droid_molmo_sam2/images/episode_34788/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue marker forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue marker forwards, execute the following phases: 1) Initial approach phase (start at [0.557, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.645]). The trajectory involves 110 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34788", "trajectory_length": 110, "key_frame_indices": [ 0, 94, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34788.json" } }, { "id": "droid_molmo_sam2_episode_3542", "task": "Put the orange block on top of green block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3542/0000.jpg", "droid_molmo_sam2/images/episode_3542/0076.jpg", "droid_molmo_sam2/images/episode_3542/0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on top of green block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on top of green block, execute the following phases: 1) Initial approach phase (start at [0.578, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.521]). The trajectory involves 108 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3542", "trajectory_length": 108, "key_frame_indices": [ 0, 76, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3542.json" } }, { "id": "droid_molmo_sam2_episode_6416", "task": "Close the oven", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6416/0000.jpg", "droid_molmo_sam2/images/episode_6416/0091.jpg", "droid_molmo_sam2/images/episode_6416/0171.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 [0.470, 0.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.389]). The trajectory involves 172 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6416", "trajectory_length": 172, "key_frame_indices": [ 0, 91, 171 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6416.json" } }, { "id": "droid_molmo_sam2_episode_36447", "task": "Put the blue item on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36447/0000.jpg", "droid_molmo_sam2/images/episode_36447/0294.jpg", "droid_molmo_sam2/images/episode_36447/0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue item on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue item on the counter, execute the following phases: 1) Initial approach phase (start at [0.686, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.777]). The trajectory involves 342 precise waypoints with total movement distance of 1.052." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36447", "trajectory_length": 342, "key_frame_indices": [ 0, 294, 341 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36447.json" } }, { "id": "droid_molmo_sam2_episode_7158", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7158/0000.jpg", "droid_molmo_sam2/images/episode_7158/0103.jpg", "droid_molmo_sam2/images/episode_7158/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.669, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.363]). The trajectory involves 141 precise waypoints with total movement distance of 0.495." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7158", "trajectory_length": 141, "key_frame_indices": [ 0, 103, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7158.json" } }, { "id": "droid_molmo_sam2_episode_35805", "task": "Pour the contents in the red bowl into the brown mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35805/0000.jpg", "droid_molmo_sam2/images/episode_35805/0462.jpg", "droid_molmo_sam2/images/episode_35805/0584.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the red bowl into the brown mug.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the red bowl into the brown mug., execute the following phases: 1) Initial approach phase (start at [0.524, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.549]). The trajectory involves 585 precise waypoints with total movement distance of 1.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35805", "trajectory_length": 585, "key_frame_indices": [ 0, 462, 584 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35805.json" } }, { "id": "droid_molmo_sam2_episode_31168", "task": "Pick the pen on the table and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31168/0000.jpg", "droid_molmo_sam2/images/episode_31168/0167.jpg", "droid_molmo_sam2/images/episode_31168/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.582, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.511]). The trajectory involves 186 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31168", "trajectory_length": 186, "key_frame_indices": [ 0, 167, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31168.json" } }, { "id": "droid_molmo_sam2_episode_6476", "task": "Press down on the lid of the flask", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6476/0000.jpg", "droid_molmo_sam2/images/episode_6476/0138.jpg", "droid_molmo_sam2/images/episode_6476/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down on the lid of the flask?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down on the lid of the flask, execute the following phases: 1) Initial approach phase (start at [0.462, 0.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.353]). The trajectory involves 162 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6476", "trajectory_length": 162, "key_frame_indices": [ 0, 138, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6476.json" } }, { "id": "droid_molmo_sam2_episode_3233", "task": "Take the chapstick out of the blue bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3233/0000.jpg", "droid_molmo_sam2/images/episode_3233/0177.jpg", "droid_molmo_sam2/images/episode_3233/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the chapstick out of the blue bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the chapstick out of the blue bowl., execute the following phases: 1) Initial approach phase (start at [0.505, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.465]). The trajectory involves 222 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3233", "trajectory_length": 222, "key_frame_indices": [ 0, 177, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3233.json" } }, { "id": "droid_molmo_sam2_episode_38214", "task": "Unhang the cloth from the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38214/0000.jpg", "droid_molmo_sam2/images/episode_38214/0114.jpg", "droid_molmo_sam2/images/episode_38214/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the cloth from the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unhang the cloth from the stand, execute the following phases: 1) Initial approach phase (start at [0.586, 0.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.445]). The trajectory involves 174 precise waypoints with total movement distance of 0.819." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38214", "trajectory_length": 174, "key_frame_indices": [ 0, 114, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38214.json" } }, { "id": "droid_molmo_sam2_episode_34072", "task": "Pour some of the contents from the white cup into the glass bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34072/0000.jpg", "droid_molmo_sam2/images/episode_34072/0151.jpg", "droid_molmo_sam2/images/episode_34072/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some of the contents from the white cup into the glass bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour some of the contents from the white cup into the glass bowl, execute the following phases: 1) Initial approach phase (start at [0.542, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.593]). The trajectory involves 205 precise waypoints with total movement distance of 1.155." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34072", "trajectory_length": 205, "key_frame_indices": [ 0, 151, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34072.json" } }, { "id": "droid_molmo_sam2_episode_39370", "task": "Fold the yellow cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39370/0000.jpg", "droid_molmo_sam2/images/episode_39370/0216.jpg", "droid_molmo_sam2/images/episode_39370/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.527, 0.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.860]). The trajectory involves 269 precise waypoints with total movement distance of 0.463." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39370", "trajectory_length": 269, "key_frame_indices": [ 0, 216, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39370.json" } }, { "id": "droid_molmo_sam2_episode_33254", "task": "Move the book to the bottom half of the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33254/0000.jpg", "droid_molmo_sam2/images/episode_33254/0316.jpg", "droid_molmo_sam2/images/episode_33254/0540.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the book to the bottom half of the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Move the book to the bottom half of the desk, execute the following phases: 1) Initial approach phase (start at [0.205, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.651]). The trajectory involves 541 precise waypoints with total movement distance of 2.274." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33254", "trajectory_length": 541, "key_frame_indices": [ 0, 316, 540 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33254.json" } }, { "id": "droid_molmo_sam2_episode_152", "task": "Pick up the blue cup and put it on top of the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_152/0000.jpg", "droid_molmo_sam2/images/episode_152/0092.jpg", "droid_molmo_sam2/images/episode_152/0136.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 [0.648, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.115]). The trajectory involves 137 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_152", "trajectory_length": 137, "key_frame_indices": [ 0, 92, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_152.json" } }, { "id": "droid_molmo_sam2_episode_32946", "task": "Move the blue masking tape backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32946/0000.jpg", "droid_molmo_sam2/images/episode_32946/0188.jpg", "droid_molmo_sam2/images/episode_32946/0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue masking tape backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue masking tape backwards, execute the following phases: 1) Initial approach phase (start at [0.832, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.836, 0.668]). The trajectory involves 235 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32946", "trajectory_length": 235, "key_frame_indices": [ 0, 188, 234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32946.json" } }, { "id": "droid_molmo_sam2_episode_3698", "task": "Put the marker on the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3698/0000.jpg", "droid_molmo_sam2/images/episode_3698/0067.jpg", "droid_molmo_sam2/images/episode_3698/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the desk?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the desk, execute the following phases: 1) Initial approach phase (start at [0.526, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.495]). The trajectory involves 144 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3698", "trajectory_length": 144, "key_frame_indices": [ 0, 67, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3698.json" } }, { "id": "droid_molmo_sam2_episode_31792", "task": "Put the can on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31792/0000.jpg", "droid_molmo_sam2/images/episode_31792/0177.jpg", "droid_molmo_sam2/images/episode_31792/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can on the stand, execute the following phases: 1) Initial approach phase (start at [0.261, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.260]). The trajectory involves 280 precise waypoints with total movement distance of 0.922." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31792", "trajectory_length": 280, "key_frame_indices": [ 0, 177, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31792.json" } }, { "id": "droid_molmo_sam2_episode_6487", "task": "Move the snack pack to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6487/0000.jpg", "droid_molmo_sam2/images/episode_6487/0095.jpg", "droid_molmo_sam2/images/episode_6487/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the snack pack to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the snack pack to the right, execute the following phases: 1) Initial approach phase (start at [0.332, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.612]). The trajectory involves 157 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6487", "trajectory_length": 157, "key_frame_indices": [ 0, 95, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6487.json" } }, { "id": "droid_molmo_sam2_episode_37157", "task": "Take the snack pack out of the kitchen sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37157/0000.jpg", "droid_molmo_sam2/images/episode_37157/0110.jpg", "droid_molmo_sam2/images/episode_37157/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the snack pack out of the kitchen sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the snack pack out of the kitchen sink, execute the following phases: 1) Initial approach phase (start at [0.507, 0.903]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.805]). The trajectory involves 198 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37157", "trajectory_length": 198, "key_frame_indices": [ 0, 110, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37157.json" } }, { "id": "droid_molmo_sam2_episode_32193", "task": "Unfold the yellow towel once from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32193/0000.jpg", "droid_molmo_sam2/images/episode_32193/0263.jpg", "droid_molmo_sam2/images/episode_32193/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the yellow towel once from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the yellow towel once from right to left, execute the following phases: 1) Initial approach phase (start at [0.673, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.822]). The trajectory involves 305 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32193", "trajectory_length": 305, "key_frame_indices": [ 0, 263, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32193.json" } }, { "id": "droid_molmo_sam2_episode_6407", "task": "Move the paper plates", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6407/0000.jpg", "droid_molmo_sam2/images/episode_6407/0097.jpg", "droid_molmo_sam2/images/episode_6407/0226.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 [0.439, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.483]). The trajectory involves 227 precise waypoints with total movement distance of 0.618." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6407", "trajectory_length": 227, "key_frame_indices": [ 0, 97, 226 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6407.json" } }, { "id": "droid_molmo_sam2_episode_3089", "task": "Pick up the cloth from the counter and wipe the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3089/0000.jpg", "droid_molmo_sam2/images/episode_3089/0280.jpg", "droid_molmo_sam2/images/episode_3089/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth from the counter and wipe the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the cloth from the counter and wipe the pan, execute the following phases: 1) Initial approach phase (start at [0.760, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.760, 0.770]). The trajectory involves 323 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3089", "trajectory_length": 323, "key_frame_indices": [ 0, 280, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3089.json" } }, { "id": "droid_molmo_sam2_episode_30266", "task": "Place two crumpled papers inside the bin on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30266/0000.jpg", "droid_molmo_sam2/images/episode_30266/0269.jpg", "droid_molmo_sam2/images/episode_30266/0550.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place two crumpled papers inside the bin on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place two crumpled papers inside the bin on the right, execute the following phases: 1) Initial approach phase (start at [0.672, 0.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 551 precise waypoints with total movement distance of 2.229." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30266", "trajectory_length": 551, "key_frame_indices": [ 0, 269, 550 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30266.json" } }, { "id": "droid_molmo_sam2_episode_4485", "task": "Move the bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4485/0000.jpg", "droid_molmo_sam2/images/episode_4485/0119.jpg", "droid_molmo_sam2/images/episode_4485/0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.570, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.530]). The trajectory involves 161 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4485", "trajectory_length": 161, "key_frame_indices": [ 0, 119, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4485.json" } }, { "id": "droid_molmo_sam2_episode_38284", "task": "Move the black bag to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38284/0000.jpg", "droid_molmo_sam2/images/episode_38284/0185.jpg", "droid_molmo_sam2/images/episode_38284/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black bag to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black bag to the left., execute the following phases: 1) Initial approach phase (start at [0.563, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.805]). The trajectory involves 233 precise waypoints with total movement distance of 1.278." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38284", "trajectory_length": 233, "key_frame_indices": [ 0, 185, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38284.json" } }, { "id": "droid_molmo_sam2_episode_1654", "task": "Pick up the black towel from the sitting base and put it on the chair back of the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1654/0000.jpg", "droid_molmo_sam2/images/episode_1654/0170.jpg", "droid_molmo_sam2/images/episode_1654/0287.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.?" }, { "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., execute the following phases: 1) Initial approach phase (start at [0.547, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.490]). The trajectory involves 288 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1654", "trajectory_length": 288, "key_frame_indices": [ 0, 170, 287 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1654.json" } }, { "id": "droid_molmo_sam2_episode_31681", "task": "Put the orange object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31681/0000.jpg", "droid_molmo_sam2/images/episode_31681/0081.jpg", "droid_molmo_sam2/images/episode_31681/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.643, 0.662]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.699, 0.717]). The trajectory involves 88 precise waypoints with total movement distance of 0.679." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31681", "trajectory_length": 88, "key_frame_indices": [ 0, 81, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31681.json" } }, { "id": "droid_molmo_sam2_episode_38469", "task": "Move the yellow mug backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38469/0000.jpg", "droid_molmo_sam2/images/episode_38469/0078.jpg", "droid_molmo_sam2/images/episode_38469/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug backwards, execute the following phases: 1) Initial approach phase (start at [0.567, 0.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.334]). The trajectory involves 116 precise waypoints with total movement distance of 0.204." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38469", "trajectory_length": 116, "key_frame_indices": [ 0, 78, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38469.json" } }, { "id": "droid_molmo_sam2_episode_30257", "task": "Remove the marker from the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30257/0000.jpg", "droid_molmo_sam2/images/episode_30257/0131.jpg", "droid_molmo_sam2/images/episode_30257/0155.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 [0.683, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.575]). The trajectory involves 156 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30257", "trajectory_length": 156, "key_frame_indices": [ 0, 131, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30257.json" } }, { "id": "droid_molmo_sam2_episode_2712", "task": "Place the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2712/0000.jpg", "droid_molmo_sam2/images/episode_2712/0243.jpg", "droid_molmo_sam2/images/episode_2712/0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker on the table, 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 [0.533, 0.467]). The trajectory involves 278 precise waypoints with total movement distance of 0.671." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2712", "trajectory_length": 278, "key_frame_indices": [ 0, 243, 277 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2712.json" } }, { "id": "droid_molmo_sam2_episode_6281", "task": "Push down on the black object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6281/0000.jpg", "droid_molmo_sam2/images/episode_6281/0104.jpg", "droid_molmo_sam2/images/episode_6281/0159.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 [0.745, 0.973]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.972]). The trajectory involves 160 precise waypoints with total movement distance of 0.079." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6281", "trajectory_length": 160, "key_frame_indices": [ 0, 104, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6281.json" } }, { "id": "droid_molmo_sam2_episode_6626", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6626/0000.jpg", "droid_molmo_sam2/images/episode_6626/0061.jpg", "droid_molmo_sam2/images/episode_6626/0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.502, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.507, 0.556]). The trajectory involves 94 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6626", "trajectory_length": 94, "key_frame_indices": [ 0, 61, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6626.json" } }, { "id": "droid_molmo_sam2_episode_31962", "task": "Unfold the white and green towel.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31962/0000.jpg", "droid_molmo_sam2/images/episode_31962/0104.jpg", "droid_molmo_sam2/images/episode_31962/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white and green towel.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the white and green towel., execute the following phases: 1) Initial approach phase (start at [0.526, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.868]). The trajectory involves 154 precise waypoints with total movement distance of 1.018." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31962", "trajectory_length": 154, "key_frame_indices": [ 0, 104, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31962.json" } }, { "id": "droid_molmo_sam2_episode_6041", "task": "Turn the red lid around", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6041/0000.jpg", "droid_molmo_sam2/images/episode_6041/0210.jpg", "droid_molmo_sam2/images/episode_6041/0331.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the red lid around?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the red lid around, execute the following phases: 1) Initial approach phase (start at [0.478, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.616]). The trajectory involves 332 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6041", "trajectory_length": 332, "key_frame_indices": [ 0, 210, 331 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6041.json" } }, { "id": "droid_molmo_sam2_episode_31381", "task": "Move the blue thermos backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31381/0000.jpg", "droid_molmo_sam2/images/episode_31381/0095.jpg", "droid_molmo_sam2/images/episode_31381/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue thermos backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue thermos backwards, execute the following phases: 1) Initial approach phase (start at [0.519, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.448]). The trajectory involves 171 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31381", "trajectory_length": 171, "key_frame_indices": [ 0, 95, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31381.json" } }, { "id": "droid_molmo_sam2_episode_3071", "task": "Move the slice of pizza away from you.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3071/0000.jpg", "droid_molmo_sam2/images/episode_3071/0076.jpg", "droid_molmo_sam2/images/episode_3071/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the slice of pizza away from you.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the slice of pizza away from you., execute the following phases: 1) Initial approach phase (start at [0.691, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.370]). The trajectory involves 109 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3071", "trajectory_length": 109, "key_frame_indices": [ 0, 76, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3071.json" } }, { "id": "droid_molmo_sam2_episode_31120", "task": "Put the masking tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31120/0000.jpg", "droid_molmo_sam2/images/episode_31120/0062.jpg", "droid_molmo_sam2/images/episode_31120/0094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the masking tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the masking tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.431, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.567, 0.407]). The trajectory involves 95 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31120", "trajectory_length": 95, "key_frame_indices": [ 0, 62, 94 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31120.json" } }, { "id": "droid_molmo_sam2_episode_6732", "task": "Open the mini oven", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6732/0000.jpg", "droid_molmo_sam2/images/episode_6732/0250.jpg", "droid_molmo_sam2/images/episode_6732/0256.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 [0.265, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.259, 0.813]). The trajectory involves 257 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6732", "trajectory_length": 257, "key_frame_indices": [ 0, 250, 256 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6732.json" } }, { "id": "droid_molmo_sam2_episode_30827", "task": "Pick up the blue towel and wipe the plate on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30827/0000.jpg", "droid_molmo_sam2/images/episode_30827/0266.jpg", "droid_molmo_sam2/images/episode_30827/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue towel and wipe the plate on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the blue towel and wipe the plate on the right, execute the following phases: 1) Initial approach phase (start at [0.513, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.508]). The trajectory involves 275 precise waypoints with total movement distance of 1.299." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30827", "trajectory_length": 275, "key_frame_indices": [ 0, 266, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30827.json" } }, { "id": "droid_molmo_sam2_episode_6300", "task": "Put the marker in the mug and then remove it and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6300/0000.jpg", "droid_molmo_sam2/images/episode_6300/0062.jpg", "droid_molmo_sam2/images/episode_6300/0436.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug and then remove it and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Put the marker in the mug and then remove it and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.541, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.425]). The trajectory involves 437 precise waypoints with total movement distance of 0.833." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6300", "trajectory_length": 437, "key_frame_indices": [ 0, 62, 436 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6300.json" } }, { "id": "droid_molmo_sam2_episode_38021", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38021/0000.jpg", "droid_molmo_sam2/images/episode_38021/0124.jpg", "droid_molmo_sam2/images/episode_38021/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.502, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.438]). The trajectory involves 174 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38021", "trajectory_length": 174, "key_frame_indices": [ 0, 124, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38021.json" } }, { "id": "droid_molmo_sam2_episode_33908", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33908/0000.jpg", "droid_molmo_sam2/images/episode_33908/0174.jpg", "droid_molmo_sam2/images/episode_33908/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.666, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.683, 0.662]). The trajectory involves 199 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33908", "trajectory_length": 199, "key_frame_indices": [ 0, 174, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33908.json" } }, { "id": "droid_molmo_sam2_episode_7285", "task": "Open the topmost drawer on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7285/0000.jpg", "droid_molmo_sam2/images/episode_7285/0078.jpg", "droid_molmo_sam2/images/episode_7285/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer on the left, execute the following phases: 1) Initial approach phase (start at [0.424, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.733]). The trajectory involves 197 precise waypoints with total movement distance of 0.421." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7285", "trajectory_length": 197, "key_frame_indices": [ 0, 78, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7285.json" } }, { "id": "droid_molmo_sam2_episode_58", "task": "Slide the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_58/0000.jpg", "droid_molmo_sam2/images/episode_58/0093.jpg", "droid_molmo_sam2/images/episode_58/0106.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 [0.519, 0.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.501]). The trajectory involves 107 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_58", "trajectory_length": 107, "key_frame_indices": [ 0, 93, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_58.json" } }, { "id": "droid_molmo_sam2_episode_34885", "task": "Pick up the pen from the table and put it in the grey bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34885/0000.jpg", "droid_molmo_sam2/images/episode_34885/0172.jpg", "droid_molmo_sam2/images/episode_34885/0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the grey bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the grey bowl., execute the following phases: 1) Initial approach phase (start at [0.407, 0.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.674]). The trajectory involves 208 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34885", "trajectory_length": 208, "key_frame_indices": [ 0, 172, 207 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34885.json" } }, { "id": "droid_molmo_sam2_episode_3088", "task": "Move the keys to the left on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3088/0000.jpg", "droid_molmo_sam2/images/episode_3088/0089.jpg", "droid_molmo_sam2/images/episode_3088/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the keys to the left on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the keys to the left on the table, execute the following phases: 1) Initial approach phase (start at [0.540, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.636]). The trajectory involves 164 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3088", "trajectory_length": 164, "key_frame_indices": [ 0, 89, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3088.json" } }, { "id": "droid_molmo_sam2_episode_33693", "task": "Remove the green cup from the dish rack and place it upright.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33693/0000.jpg", "droid_molmo_sam2/images/episode_33693/0113.jpg", "droid_molmo_sam2/images/episode_33693/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green cup from the dish rack and place it upright.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green cup from the dish rack and place it upright., execute the following phases: 1) Initial approach phase (start at [0.465, 0.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.714]). The trajectory involves 323 precise waypoints with total movement distance of 1.267." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33693", "trajectory_length": 323, "key_frame_indices": [ 0, 113, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33693.json" } }, { "id": "droid_molmo_sam2_episode_6659", "task": "Slide the green cloth to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6659/0000.jpg", "droid_molmo_sam2/images/episode_6659/0077.jpg", "droid_molmo_sam2/images/episode_6659/0098.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 [0.532, 0.709]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.585]). The trajectory involves 99 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6659", "trajectory_length": 99, "key_frame_indices": [ 0, 77, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6659.json" } }, { "id": "droid_molmo_sam2_episode_1550", "task": "Move the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1550/0000.jpg", "droid_molmo_sam2/images/episode_1550/0093.jpg", "droid_molmo_sam2/images/episode_1550/0103.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 [0.506, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.595]). The trajectory involves 104 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1550", "trajectory_length": 104, "key_frame_indices": [ 0, 93, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1550.json" } }, { "id": "droid_molmo_sam2_episode_35221", "task": "Put the cloth in the bag completely", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35221/0000.jpg", "droid_molmo_sam2/images/episode_35221/0125.jpg", "droid_molmo_sam2/images/episode_35221/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth in the bag completely?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth in the bag completely, execute the following phases: 1) Initial approach phase (start at [0.363, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.712]). The trajectory involves 140 precise waypoints with total movement distance of 0.952." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35221", "trajectory_length": 140, "key_frame_indices": [ 0, 125, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35221.json" } }, { "id": "droid_molmo_sam2_episode_29", "task": "Take the cloth off the screen and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_29/0000.jpg", "droid_molmo_sam2/images/episode_29/0099.jpg", "droid_molmo_sam2/images/episode_29/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth off the screen and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the cloth off the screen and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.565, 0.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.550, 0.861]). The trajectory involves 118 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_29", "trajectory_length": 118, "key_frame_indices": [ 0, 99, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_29.json" } }, { "id": "droid_molmo_sam2_episode_2782", "task": "Fold the towel once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2782/0000.jpg", "droid_molmo_sam2/images/episode_2782/0159.jpg", "droid_molmo_sam2/images/episode_2782/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel once, execute the following phases: 1) Initial approach phase (start at [0.974, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.974, 0.742]). The trajectory involves 263 precise waypoints with total movement distance of 2.399." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2782", "trajectory_length": 263, "key_frame_indices": [ 0, 159, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2782.json" } }, { "id": "droid_molmo_sam2_episode_32100", "task": "Open the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32100/0000.jpg", "droid_molmo_sam2/images/episode_32100/0041.jpg", "droid_molmo_sam2/images/episode_32100/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the box, execute the following phases: 1) Initial approach phase (start at [0.504, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.666]). The trajectory involves 193 precise waypoints with total movement distance of 0.698." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32100", "trajectory_length": 193, "key_frame_indices": [ 0, 41, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32100.json" } }, { "id": "droid_molmo_sam2_episode_4568", "task": "Put the blue pen inside the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4568/0000.jpg", "droid_molmo_sam2/images/episode_4568/0089.jpg", "droid_molmo_sam2/images/episode_4568/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue pen inside the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue pen inside the white bowl, execute the following phases: 1) Initial approach phase (start at [0.658, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.678]). The trajectory involves 132 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4568", "trajectory_length": 132, "key_frame_indices": [ 0, 89, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4568.json" } }, { "id": "droid_molmo_sam2_episode_6333", "task": "Push the grey towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6333/0000.jpg", "droid_molmo_sam2/images/episode_6333/0065.jpg", "droid_molmo_sam2/images/episode_6333/0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the grey towel to the left?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the grey towel to the left, execute the following phases: 1) Initial approach phase (start at [0.519, 0.626]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.450]). The trajectory involves 93 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6333", "trajectory_length": 93, "key_frame_indices": [ 0, 65, 92 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6333.json" } }, { "id": "droid_molmo_sam2_episode_30003", "task": "Move the marker to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30003/0000.jpg", "droid_molmo_sam2/images/episode_30003/0114.jpg", "droid_molmo_sam2/images/episode_30003/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.555, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.585]). The trajectory involves 198 precise waypoints with total movement distance of 0.443." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30003", "trajectory_length": 198, "key_frame_indices": [ 0, 114, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30003.json" } }, { "id": "droid_molmo_sam2_episode_34483", "task": "Put the green cup on the stove top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34483/0000.jpg", "droid_molmo_sam2/images/episode_34483/0165.jpg", "droid_molmo_sam2/images/episode_34483/0248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green cup on the stove top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green cup on the stove top, execute the following phases: 1) Initial approach phase (start at [0.467, 0.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.570]). The trajectory involves 249 precise waypoints with total movement distance of 0.430." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34483", "trajectory_length": 249, "key_frame_indices": [ 0, 165, 248 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34483.json" } }, { "id": "droid_molmo_sam2_episode_7115", "task": "Move the blue towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7115/0000.jpg", "droid_molmo_sam2/images/episode_7115/0098.jpg", "droid_molmo_sam2/images/episode_7115/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue towel to the left, execute the following phases: 1) Initial approach phase (start at [0.544, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.507]). The trajectory involves 120 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7115", "trajectory_length": 120, "key_frame_indices": [ 0, 98, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7115.json" } }, { "id": "droid_molmo_sam2_episode_4267", "task": "Move the purple plush toy to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4267/0000.jpg", "droid_molmo_sam2/images/episode_4267/0062.jpg", "droid_molmo_sam2/images/episode_4267/0093.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 [0.555, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.535]). The trajectory involves 94 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4267", "trajectory_length": 94, "key_frame_indices": [ 0, 62, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4267.json" } }, { "id": "droid_molmo_sam2_episode_875", "task": "Unfold the towel once from left to right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_875/0000.jpg", "droid_molmo_sam2/images/episode_875/0169.jpg", "droid_molmo_sam2/images/episode_875/0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once from left to right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once from left to right, execute the following phases: 1) Initial approach phase (start at [0.641, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.554]). The trajectory involves 242 precise waypoints with total movement distance of 1.177." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_875", "trajectory_length": 242, "key_frame_indices": [ 0, 169, 241 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_875.json" } }, { "id": "droid_molmo_sam2_episode_3817", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3817/0000.jpg", "droid_molmo_sam2/images/episode_3817/0157.jpg", "droid_molmo_sam2/images/episode_3817/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.507, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.684]). The trajectory involves 193 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3817", "trajectory_length": 193, "key_frame_indices": [ 0, 157, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3817.json" } }, { "id": "droid_molmo_sam2_episode_35153", "task": "Pick the marker and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35153/0000.jpg", "droid_molmo_sam2/images/episode_35153/0108.jpg", "droid_molmo_sam2/images/episode_35153/0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.516, 0.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.449]). The trajectory involves 180 precise waypoints with total movement distance of 1.055." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35153", "trajectory_length": 180, "key_frame_indices": [ 0, 108, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35153.json" } }, { "id": "droid_molmo_sam2_episode_963", "task": "Move the tall cylindrical block backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_963/0000.jpg", "droid_molmo_sam2/images/episode_963/0065.jpg", "droid_molmo_sam2/images/episode_963/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tall cylindrical block backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tall cylindrical block backwards, execute the following phases: 1) Initial approach phase (start at [0.569, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.389]). The trajectory involves 102 precise waypoints with total movement distance of 0.420." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_963", "trajectory_length": 102, "key_frame_indices": [ 0, 65, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_963.json" } }, { "id": "droid_molmo_sam2_episode_31707", "task": "Take the can out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31707/0000.jpg", "droid_molmo_sam2/images/episode_31707/0106.jpg", "droid_molmo_sam2/images/episode_31707/0214.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_molmo_sam2 manipulation: Take the can out of the sink, execute the following phases: 1) Initial approach phase (start at [0.429, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.718]). The trajectory involves 215 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31707", "trajectory_length": 215, "key_frame_indices": [ 0, 106, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31707.json" } }, { "id": "droid_molmo_sam2_episode_3106", "task": "Remove the marker from the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3106/0000.jpg", "droid_molmo_sam2/images/episode_3106/0131.jpg", "droid_molmo_sam2/images/episode_3106/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.518, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.475]). The trajectory involves 136 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3106", "trajectory_length": 136, "key_frame_indices": [ 0, 131, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3106.json" } }, { "id": "droid_molmo_sam2_episode_6772", "task": "Move the building block tower forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6772/0000.jpg", "droid_molmo_sam2/images/episode_6772/0236.jpg", "droid_molmo_sam2/images/episode_6772/0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the building block tower forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the building block tower forward, execute the following phases: 1) Initial approach phase (start at [0.534, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.548]). The trajectory involves 274 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6772", "trajectory_length": 274, "key_frame_indices": [ 0, 236, 273 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6772.json" } }, { "id": "droid_molmo_sam2_episode_36663", "task": "Open the box on the table then remove the contents inside it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36663/0000.jpg", "droid_molmo_sam2/images/episode_36663/0295.jpg", "droid_molmo_sam2/images/episode_36663/0529.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the box on the table then remove the contents inside it?" }, { "from": "gpt", "value": "To complete this repositioning: Open the box on the table then remove the contents inside it, execute the following phases: 1) Initial approach phase (start at [0.370, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.539]). The trajectory involves 530 precise waypoints with total movement distance of 1.300." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36663", "trajectory_length": 530, "key_frame_indices": [ 0, 295, 529 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36663.json" } }, { "id": "droid_molmo_sam2_episode_30794", "task": "Pick the pen from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30794/0000.jpg", "droid_molmo_sam2/images/episode_30794/0064.jpg", "droid_molmo_sam2/images/episode_30794/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.771, 0.848]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.648, 0.800]). The trajectory involves 88 precise waypoints with total movement distance of 0.574." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30794", "trajectory_length": 88, "key_frame_indices": [ 0, 64, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30794.json" } }, { "id": "droid_molmo_sam2_episode_7033", "task": "Unfold the tea towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7033/0000.jpg", "droid_molmo_sam2/images/episode_7033/0190.jpg", "droid_molmo_sam2/images/episode_7033/0292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the tea towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the tea towel, execute the following phases: 1) Initial approach phase (start at [0.516, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.633]). The trajectory involves 293 precise waypoints with total movement distance of 3.329." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7033", "trajectory_length": 293, "key_frame_indices": [ 0, 190, 292 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7033.json" } }, { "id": "droid_molmo_sam2_episode_1599", "task": "Pick up the blue cup from the counter and put it in the dishwasher machine", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1599/0000.jpg", "droid_molmo_sam2/images/episode_1599/0144.jpg", "droid_molmo_sam2/images/episode_1599/0273.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?" }, { "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, execute the following phases: 1) Initial approach phase (start at [0.397, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.970]). The trajectory involves 274 precise waypoints with total movement distance of 0.896." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1599", "trajectory_length": 274, "key_frame_indices": [ 0, 144, 273 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1599.json" } }, { "id": "droid_molmo_sam2_episode_30230", "task": "Move the orange object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30230/0000.jpg", "droid_molmo_sam2/images/episode_30230/0001.jpg", "droid_molmo_sam2/images/episode_30230/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange object?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange object, execute the following phases: 1) Initial approach phase (start at [0.665, 0.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.275]). The trajectory involves 133 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30230", "trajectory_length": 133, "key_frame_indices": [ 0, 1, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30230.json" } }, { "id": "droid_molmo_sam2_episode_36954", "task": "Fold the yellow towel in half from bottom to top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36954/0000.jpg", "droid_molmo_sam2/images/episode_36954/0259.jpg", "droid_molmo_sam2/images/episode_36954/0328.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel in half from bottom to top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel in half from bottom to top, execute the following phases: 1) Initial approach phase (start at [0.545, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.867]). The trajectory involves 329 precise waypoints with total movement distance of 0.460." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36954", "trajectory_length": 329, "key_frame_indices": [ 0, 259, 328 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36954.json" } }, { "id": "droid_molmo_sam2_episode_7077", "task": "Put the charger head on the socket on the extension cord", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7077/0000.jpg", "droid_molmo_sam2/images/episode_7077/0153.jpg", "droid_molmo_sam2/images/episode_7077/0498.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the charger head on the socket on the extension cord?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the charger head on the socket on the extension cord, execute the following phases: 1) Initial approach phase (start at [0.580, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.615]). The trajectory involves 499 precise waypoints with total movement distance of 1.025." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7077", "trajectory_length": 499, "key_frame_indices": [ 0, 153, 498 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7077.json" } }, { "id": "droid_molmo_sam2_episode_37122", "task": "Place the wooden bowl on the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37122/0000.jpg", "droid_molmo_sam2/images/episode_37122/0169.jpg", "droid_molmo_sam2/images/episode_37122/0287.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the wooden bowl on the couch?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the wooden bowl on the couch, execute the following phases: 1) Initial approach phase (start at [0.043, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.707]). The trajectory involves 288 precise waypoints with total movement distance of 1.644." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37122", "trajectory_length": 288, "key_frame_indices": [ 0, 169, 287 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37122.json" } }, { "id": "droid_molmo_sam2_episode_7199", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7199/0000.jpg", "droid_molmo_sam2/images/episode_7199/0133.jpg", "droid_molmo_sam2/images/episode_7199/0145.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 [0.622, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.656]). The trajectory involves 146 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7199", "trajectory_length": 146, "key_frame_indices": [ 0, 133, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7199.json" } }, { "id": "droid_molmo_sam2_episode_35246", "task": "Close the bottom drawer of the gray file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35246/0000.jpg", "droid_molmo_sam2/images/episode_35246/0051.jpg", "droid_molmo_sam2/images/episode_35246/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the gray file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the gray file cabinet, execute the following phases: 1) Initial approach phase (start at [0.501, 0.946]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.945]). The trajectory involves 101 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35246", "trajectory_length": 101, "key_frame_indices": [ 0, 51, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35246.json" } }, { "id": "droid_molmo_sam2_episode_6760", "task": "Put the yellow and pink clothes in the box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6760/0000.jpg", "droid_molmo_sam2/images/episode_6760/0490.jpg", "droid_molmo_sam2/images/episode_6760/0527.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow and pink clothes in the box.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow and pink clothes in the box., execute the following phases: 1) Initial approach phase (start at [0.463, 0.867]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.875]). The trajectory involves 528 precise waypoints with total movement distance of 1.267." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6760", "trajectory_length": 528, "key_frame_indices": [ 0, 490, 527 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6760.json" } }, { "id": "droid_molmo_sam2_episode_33799", "task": "Move the mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33799/0000.jpg", "droid_molmo_sam2/images/episode_33799/0182.jpg", "droid_molmo_sam2/images/episode_33799/0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.558, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.443]). The trajectory involves 221 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33799", "trajectory_length": 221, "key_frame_indices": [ 0, 182, 220 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33799.json" } }, { "id": "droid_molmo_sam2_episode_7305", "task": "Open the lid of the clear container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7305/0000.jpg", "droid_molmo_sam2/images/episode_7305/0167.jpg", "droid_molmo_sam2/images/episode_7305/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the clear container?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the clear container, execute the following phases: 1) Initial approach phase (start at [0.455, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.529]). The trajectory involves 197 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7305", "trajectory_length": 197, "key_frame_indices": [ 0, 167, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7305.json" } }, { "id": "droid_molmo_sam2_episode_38070", "task": "Remove the lid from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38070/0000.jpg", "droid_molmo_sam2/images/episode_38070/0182.jpg", "droid_molmo_sam2/images/episode_38070/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.495, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.656]). The trajectory involves 250 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38070", "trajectory_length": 250, "key_frame_indices": [ 0, 182, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38070.json" } }, { "id": "droid_molmo_sam2_episode_3113", "task": "Put the blue block in the drawer and close it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3113/0000.jpg", "droid_molmo_sam2/images/episode_3113/0207.jpg", "droid_molmo_sam2/images/episode_3113/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue block in the drawer and close it?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the blue block in the drawer and close it, execute the following phases: 1) Initial approach phase (start at [0.373, 0.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.710]). The trajectory involves 250 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3113", "trajectory_length": 250, "key_frame_indices": [ 0, 207, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3113.json" } }, { "id": "droid_molmo_sam2_episode_4701", "task": "Open the tap faucet.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4701/0000.jpg", "droid_molmo_sam2/images/episode_4701/0225.jpg", "droid_molmo_sam2/images/episode_4701/0431.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the tap faucet.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the tap faucet., execute the following phases: 1) Initial approach phase (start at [0.507, 0.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.205]). The trajectory involves 432 precise waypoints with total movement distance of 0.867." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4701", "trajectory_length": 432, "key_frame_indices": [ 0, 225, 431 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4701.json" } }, { "id": "droid_molmo_sam2_episode_3452", "task": "Close the brown box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3452/0000.jpg", "droid_molmo_sam2/images/episode_3452/0164.jpg", "droid_molmo_sam2/images/episode_3452/0212.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 [0.703, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.695]). The trajectory involves 213 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3452", "trajectory_length": 213, "key_frame_indices": [ 0, 164, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3452.json" } }, { "id": "droid_molmo_sam2_episode_33763", "task": "Pick up the Coca-Cola soda can and put it inside the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33763/0000.jpg", "droid_molmo_sam2/images/episode_33763/0245.jpg", "droid_molmo_sam2/images/episode_33763/0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the Coca-Cola soda can and put it inside the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the Coca-Cola soda can and put it inside the sink, execute the following phases: 1) Initial approach phase (start at [0.288, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.932]). The trajectory involves 278 precise waypoints with total movement distance of 1.174." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33763", "trajectory_length": 278, "key_frame_indices": [ 0, 245, 277 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33763.json" } }, { "id": "droid_molmo_sam2_episode_6365", "task": "Wipe the shoes with tissue paper", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6365/0000.jpg", "droid_molmo_sam2/images/episode_6365/0307.jpg", "droid_molmo_sam2/images/episode_6365/0315.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the shoes with tissue paper?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the shoes with tissue paper, execute the following phases: 1) Initial approach phase (start at [0.470, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.674]). The trajectory involves 316 precise waypoints with total movement distance of 1.616." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6365", "trajectory_length": 316, "key_frame_indices": [ 0, 307, 315 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6365.json" } }, { "id": "droid_molmo_sam2_episode_37117", "task": "Open the third upper cabinet from the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37117/0000.jpg", "droid_molmo_sam2/images/episode_37117/0132.jpg", "droid_molmo_sam2/images/episode_37117/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the third upper cabinet from the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the third upper cabinet from the left, execute the following phases: 1) Initial approach phase (start at [0.484, 0.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.515]). The trajectory involves 170 precise waypoints with total movement distance of 0.839." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37117", "trajectory_length": 170, "key_frame_indices": [ 0, 132, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37117.json" } }, { "id": "droid_molmo_sam2_episode_31534", "task": "Put the blue cup in the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31534/0000.jpg", "droid_molmo_sam2/images/episode_31534/0029.jpg", "droid_molmo_sam2/images/episode_31534/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup in the orange cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cup in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.537, 0.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.595]). The trajectory involves 121 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31534", "trajectory_length": 121, "key_frame_indices": [ 0, 29, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31534.json" } }, { "id": "droid_molmo_sam2_episode_7153", "task": "Open the lid of the cooker wider", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7153/0000.jpg", "droid_molmo_sam2/images/episode_7153/0105.jpg", "droid_molmo_sam2/images/episode_7153/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the cooker wider?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the cooker wider, execute the following phases: 1) Initial approach phase (start at [0.662, 0.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.204]). The trajectory involves 230 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7153", "trajectory_length": 230, "key_frame_indices": [ 0, 105, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7153.json" } }, { "id": "droid_molmo_sam2_episode_31543", "task": "Hang the cloth on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31543/0000.jpg", "droid_molmo_sam2/images/episode_31543/0097.jpg", "droid_molmo_sam2/images/episode_31543/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.301, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.389]). The trajectory involves 191 precise waypoints with total movement distance of 0.920." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31543", "trajectory_length": 191, "key_frame_indices": [ 0, 97, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31543.json" } }, { "id": "droid_molmo_sam2_episode_32451", "task": "Put the banana purse in the backpack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32451/0000.jpg", "droid_molmo_sam2/images/episode_32451/0432.jpg", "droid_molmo_sam2/images/episode_32451/0444.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the banana purse in the backpack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the banana purse in the backpack, execute the following phases: 1) Initial approach phase (start at [0.520, 0.933]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.940]). The trajectory involves 445 precise waypoints with total movement distance of 2.453." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32451", "trajectory_length": 445, "key_frame_indices": [ 0, 432, 444 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32451.json" } }, { "id": "droid_molmo_sam2_episode_6974", "task": "Slide the tin forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6974/0000.jpg", "droid_molmo_sam2/images/episode_6974/0081.jpg", "droid_molmo_sam2/images/episode_6974/0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the tin forward?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the tin forward, execute the following phases: 1) Initial approach phase (start at [0.493, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.489]). The trajectory involves 257 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6974", "trajectory_length": 257, "key_frame_indices": [ 0, 81, 256 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6974.json" } }, { "id": "droid_molmo_sam2_episode_30439", "task": "Place the coca cola can on the left side of the bottom shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30439/0000.jpg", "droid_molmo_sam2/images/episode_30439/0162.jpg", "droid_molmo_sam2/images/episode_30439/0335.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the coca cola can on the left side of the bottom shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the coca cola can on the left side of the bottom shelf, execute the following phases: 1) Initial approach phase (start at [0.335, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.271]). The trajectory involves 336 precise waypoints with total movement distance of 1.067." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30439", "trajectory_length": 336, "key_frame_indices": [ 0, 162, 335 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30439.json" } }, { "id": "droid_molmo_sam2_episode_2246", "task": "Put the pink bowl inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2246/0000.jpg", "droid_molmo_sam2/images/episode_2246/0091.jpg", "droid_molmo_sam2/images/episode_2246/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink bowl inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink bowl inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.648, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.583]). The trajectory involves 137 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2246", "trajectory_length": 137, "key_frame_indices": [ 0, 91, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2246.json" } }, { "id": "droid_molmo_sam2_episode_6258", "task": "Take the broccoli out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6258/0000.jpg", "droid_molmo_sam2/images/episode_6258/0093.jpg", "droid_molmo_sam2/images/episode_6258/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the broccoli out of the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the broccoli out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.565, 0.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.613]). The trajectory involves 147 precise waypoints with total movement distance of 0.414." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6258", "trajectory_length": 147, "key_frame_indices": [ 0, 93, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6258.json" } }, { "id": "droid_molmo_sam2_episode_38149", "task": "Put the yellow object in the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38149/0000.jpg", "droid_molmo_sam2/images/episode_38149/0096.jpg", "droid_molmo_sam2/images/episode_38149/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow object in the drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow object in the drawer, execute the following phases: 1) Initial approach phase (start at [0.378, 0.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.360]). The trajectory involves 134 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38149", "trajectory_length": 134, "key_frame_indices": [ 0, 96, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38149.json" } }, { "id": "droid_molmo_sam2_episode_3572", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3572/0000.jpg", "droid_molmo_sam2/images/episode_3572/0107.jpg", "droid_molmo_sam2/images/episode_3572/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.439, 0.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.587]). The trajectory involves 127 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3572", "trajectory_length": 127, "key_frame_indices": [ 0, 107, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3572.json" } }, { "id": "droid_molmo_sam2_episode_31476", "task": "Put the lid on the container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31476/0000.jpg", "droid_molmo_sam2/images/episode_31476/0104.jpg", "droid_molmo_sam2/images/episode_31476/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the container, execute the following phases: 1) Initial approach phase (start at [0.476, 0.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.314]). The trajectory involves 228 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31476", "trajectory_length": 228, "key_frame_indices": [ 0, 104, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31476.json" } }, { "id": "droid_molmo_sam2_episode_7467", "task": "Put a rubber band around the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7467/0000.jpg", "droid_molmo_sam2/images/episode_7467/0091.jpg", "droid_molmo_sam2/images/episode_7467/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a rubber band around the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put a rubber band around the cup, execute the following phases: 1) Initial approach phase (start at [0.559, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.566]). The trajectory involves 160 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7467", "trajectory_length": 160, "key_frame_indices": [ 0, 91, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7467.json" } }, { "id": "droid_molmo_sam2_episode_3092", "task": "Pick up the marker from the center of the table and place it to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3092/0000.jpg", "droid_molmo_sam2/images/episode_3092/0080.jpg", "droid_molmo_sam2/images/episode_3092/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker from the center of the table and place it to the left?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker from the center of the table and place it to the left, execute the following phases: 1) Initial approach phase (start at [0.431, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.607]). The trajectory involves 179 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3092", "trajectory_length": 179, "key_frame_indices": [ 0, 80, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3092.json" } }, { "id": "droid_molmo_sam2_episode_31007", "task": "Move the grey towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31007/0000.jpg", "droid_molmo_sam2/images/episode_31007/0072.jpg", "droid_molmo_sam2/images/episode_31007/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the right, execute the following phases: 1) Initial approach phase (start at [0.537, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.695]). The trajectory involves 89 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31007", "trajectory_length": 89, "key_frame_indices": [ 0, 72, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31007.json" } }, { "id": "droid_molmo_sam2_episode_933", "task": "Move the blue bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_933/0000.jpg", "droid_molmo_sam2/images/episode_933/0146.jpg", "droid_molmo_sam2/images/episode_933/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle forward, execute the following phases: 1) Initial approach phase (start at [0.541, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.658]). The trajectory involves 202 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_933", "trajectory_length": 202, "key_frame_indices": [ 0, 146, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_933.json" } }, { "id": "droid_molmo_sam2_episode_3677", "task": "Pick up the white cup and move it to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3677/0000.jpg", "droid_molmo_sam2/images/episode_3677/0066.jpg", "droid_molmo_sam2/images/episode_3677/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cup and move it to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the white cup and move it to the left., execute the following phases: 1) Initial approach phase (start at [0.576, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.441]). The trajectory involves 106 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3677", "trajectory_length": 106, "key_frame_indices": [ 0, 66, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3677.json" } }, { "id": "droid_molmo_sam2_episode_30080", "task": "Pick up the sprite can and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30080/0000.jpg", "droid_molmo_sam2/images/episode_30080/0153.jpg", "droid_molmo_sam2/images/episode_30080/0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the sprite can and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the sprite can and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.382, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.931]). The trajectory involves 272 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30080", "trajectory_length": 272, "key_frame_indices": [ 0, 153, 271 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30080.json" } }, { "id": "droid_molmo_sam2_episode_546", "task": "Unfold the shirt", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_546/0000.jpg", "droid_molmo_sam2/images/episode_546/0295.jpg", "droid_molmo_sam2/images/episode_546/0586.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the shirt?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the shirt, execute the following phases: 1) Initial approach phase (start at [0.850, 0.883]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.873]). The trajectory involves 587 precise waypoints with total movement distance of 3.806." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_546", "trajectory_length": 587, "key_frame_indices": [ 0, 295, 586 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_546.json" } }, { "id": "droid_molmo_sam2_episode_4124", "task": "Take the object and put it in the upper segment of the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4124/0000.jpg", "droid_molmo_sam2/images/episode_4124/0104.jpg", "droid_molmo_sam2/images/episode_4124/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the object and put it in the upper segment of the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the object and put it in the upper segment of the box, execute the following phases: 1) Initial approach phase (start at [0.740, 0.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.301]). The trajectory involves 159 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4124", "trajectory_length": 159, "key_frame_indices": [ 0, 104, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4124.json" } }, { "id": "droid_molmo_sam2_episode_37354", "task": "Pick up the black cloth from the chair and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37354/0000.jpg", "droid_molmo_sam2/images/episode_37354/0116.jpg", "droid_molmo_sam2/images/episode_37354/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black cloth from the chair and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black cloth from the chair and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.574, 0.626]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.894]). The trajectory involves 177 precise waypoints with total movement distance of 0.861." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37354", "trajectory_length": 177, "key_frame_indices": [ 0, 116, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37354.json" } }, { "id": "droid_molmo_sam2_episode_7419", "task": "Unfold the cloth on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7419/0000.jpg", "droid_molmo_sam2/images/episode_7419/0280.jpg", "droid_molmo_sam2/images/episode_7419/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth on the countertop, execute the following phases: 1) Initial approach phase (start at [0.607, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.799]). The trajectory involves 341 precise waypoints with total movement distance of 0.693." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7419", "trajectory_length": 341, "key_frame_indices": [ 0, 280, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7419.json" } }, { "id": "droid_molmo_sam2_episode_34366", "task": "Put the snack bar in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34366/0000.jpg", "droid_molmo_sam2/images/episode_34366/0211.jpg", "droid_molmo_sam2/images/episode_34366/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack bar in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack bar in the sink, execute the following phases: 1) Initial approach phase (start at [0.313, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.958]). The trajectory involves 275 precise waypoints with total movement distance of 0.722." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34366", "trajectory_length": 275, "key_frame_indices": [ 0, 211, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34366.json" } }, { "id": "droid_molmo_sam2_episode_32124", "task": "Close the open book on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32124/0000.jpg", "droid_molmo_sam2/images/episode_32124/0232.jpg", "droid_molmo_sam2/images/episode_32124/0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open book on the table?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open book on the table, execute the following phases: 1) Initial approach phase (start at [0.768, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.913, 0.924]). The trajectory involves 261 precise waypoints with total movement distance of 0.515." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32124", "trajectory_length": 261, "key_frame_indices": [ 0, 232, 260 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32124.json" } }, { "id": "droid_molmo_sam2_episode_1484", "task": "Take the green block out of the box and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1484/0000.jpg", "droid_molmo_sam2/images/episode_1484/0338.jpg", "droid_molmo_sam2/images/episode_1484/0428.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?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the green block out of the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.612, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.817]). The trajectory involves 429 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1484", "trajectory_length": 429, "key_frame_indices": [ 0, 338, 428 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1484.json" } }, { "id": "droid_molmo_sam2_episode_7096", "task": "Get the blue shirt from the seat and place it on the backrest of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7096/0000.jpg", "droid_molmo_sam2/images/episode_7096/0259.jpg", "droid_molmo_sam2/images/episode_7096/0327.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the blue shirt from the seat and place it on the backrest of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the blue shirt from the seat and place it on the backrest of the chair, execute the following phases: 1) Initial approach phase (start at [0.497, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.452]). The trajectory involves 328 precise waypoints with total movement distance of 4.552." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7096", "trajectory_length": 328, "key_frame_indices": [ 0, 259, 327 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7096.json" } }, { "id": "droid_molmo_sam2_episode_634", "task": "Move the green towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_634/0000.jpg", "droid_molmo_sam2/images/episode_634/0096.jpg", "droid_molmo_sam2/images/episode_634/0134.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 [0.579, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.562]). The trajectory involves 135 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_634", "trajectory_length": 135, "key_frame_indices": [ 0, 96, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_634.json" } }, { "id": "droid_molmo_sam2_episode_39593", "task": "Turn the tap nozzle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39593/0000.jpg", "droid_molmo_sam2/images/episode_39593/0082.jpg", "droid_molmo_sam2/images/episode_39593/0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.626, 0.461]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.619, 0.441]). The trajectory involves 94 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39593", "trajectory_length": 94, "key_frame_indices": [ 0, 82, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39593.json" } }, { "id": "droid_molmo_sam2_episode_6572", "task": "Put the white ropes inside the blue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6572/0000.jpg", "droid_molmo_sam2/images/episode_6572/0156.jpg", "droid_molmo_sam2/images/episode_6572/0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white ropes inside the blue box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white ropes inside the blue box, execute the following phases: 1) Initial approach phase (start at [0.560, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.864, 0.114]). The trajectory involves 239 precise waypoints with total movement distance of 4.107." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6572", "trajectory_length": 239, "key_frame_indices": [ 0, 156, 238 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6572.json" } }, { "id": "droid_molmo_sam2_episode_4107", "task": "Put the soda can on the left counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4107/0000.jpg", "droid_molmo_sam2/images/episode_4107/0230.jpg", "droid_molmo_sam2/images/episode_4107/0254.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_molmo_sam2 manipulation: Put the soda can on the left counter, execute the following phases: 1) Initial approach phase (start at [0.488, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.688]). The trajectory involves 255 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4107", "trajectory_length": 255, "key_frame_indices": [ 0, 230, 254 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4107.json" } }, { "id": "droid_molmo_sam2_episode_3243", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3243/0000.jpg", "droid_molmo_sam2/images/episode_3243/0129.jpg", "droid_molmo_sam2/images/episode_3243/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.430, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.625]). The trajectory involves 178 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3243", "trajectory_length": 178, "key_frame_indices": [ 0, 129, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3243.json" } }, { "id": "droid_molmo_sam2_episode_37815", "task": "Fold the towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37815/0000.jpg", "droid_molmo_sam2/images/episode_37815/0259.jpg", "droid_molmo_sam2/images/episode_37815/1303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel in half, execute the following phases: 1) Initial approach phase (start at [0.440, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.616]). The trajectory involves 1304 precise waypoints with total movement distance of 1.083." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37815", "trajectory_length": 1304, "key_frame_indices": [ 0, 259, 1303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37815.json" } }, { "id": "droid_molmo_sam2_episode_7416", "task": "Put the black tape on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7416/0000.jpg", "droid_molmo_sam2/images/episode_7416/0073.jpg", "droid_molmo_sam2/images/episode_7416/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black tape on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black tape on the white plate, execute the following phases: 1) Initial approach phase (start at [0.639, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.470]). The trajectory involves 105 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7416", "trajectory_length": 105, "key_frame_indices": [ 0, 73, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7416.json" } }, { "id": "droid_molmo_sam2_episode_33845", "task": "Press the button atop the flask", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33845/0000.jpg", "droid_molmo_sam2/images/episode_33845/0107.jpg", "droid_molmo_sam2/images/episode_33845/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button atop the flask?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button atop the flask, execute the following phases: 1) Initial approach phase (start at [0.913, 0.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.921, 0.912]). The trajectory involves 168 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33845", "trajectory_length": 168, "key_frame_indices": [ 0, 107, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33845.json" } }, { "id": "droid_molmo_sam2_episode_2845", "task": "Pick up the jar and put it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2845/0000.jpg", "droid_molmo_sam2/images/episode_2845/0134.jpg", "droid_molmo_sam2/images/episode_2845/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the jar and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the jar and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.655, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.329]). The trajectory involves 210 precise waypoints with total movement distance of 1.224." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2845", "trajectory_length": 210, "key_frame_indices": [ 0, 134, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2845.json" } }, { "id": "droid_molmo_sam2_episode_34205", "task": "Put the box on the chopping board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34205/0000.jpg", "droid_molmo_sam2/images/episode_34205/0151.jpg", "droid_molmo_sam2/images/episode_34205/0374.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the box on the chopping board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the box on the chopping board, execute the following phases: 1) Initial approach phase (start at [0.432, 0.899]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.777]). The trajectory involves 375 precise waypoints with total movement distance of 1.203." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34205", "trajectory_length": 375, "key_frame_indices": [ 0, 151, 374 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34205.json" } }, { "id": "droid_molmo_sam2_episode_4099", "task": "Put the stick of glue in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4099/0000.jpg", "droid_molmo_sam2/images/episode_4099/0253.jpg", "droid_molmo_sam2/images/episode_4099/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the stick of glue in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the stick of glue in the mug, execute the following phases: 1) Initial approach phase (start at [0.848, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.296]). The trajectory involves 280 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4099", "trajectory_length": 280, "key_frame_indices": [ 0, 253, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4099.json" } }, { "id": "droid_molmo_sam2_episode_6728", "task": "Remove the hoodie from the rack and put it on the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6728/0000.jpg", "droid_molmo_sam2/images/episode_6728/0297.jpg", "droid_molmo_sam2/images/episode_6728/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the hoodie from the rack and put it on the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the hoodie from the rack and put it on the couch, execute the following phases: 1) Initial approach phase (start at [0.720, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 341 precise waypoints with total movement distance of 2.025." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6728", "trajectory_length": 341, "key_frame_indices": [ 0, 297, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6728.json" } }, { "id": "droid_molmo_sam2_episode_3094", "task": "Get a wipe from the wipe box and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3094/0000.jpg", "droid_molmo_sam2/images/episode_3094/0142.jpg", "droid_molmo_sam2/images/episode_3094/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get a wipe from the wipe box and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get a wipe from the wipe box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.618, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.725, 0.445]). The trajectory involves 223 precise waypoints with total movement distance of 1.212." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3094", "trajectory_length": 223, "key_frame_indices": [ 0, 142, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3094.json" } }, { "id": "droid_molmo_sam2_episode_269", "task": "Unfold the white towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_269/0000.jpg", "droid_molmo_sam2/images/episode_269/0147.jpg", "droid_molmo_sam2/images/episode_269/0546.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the white towel, execute the following phases: 1) Initial approach phase (start at [0.546, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.672]). The trajectory involves 547 precise waypoints with total movement distance of 0.875." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_269", "trajectory_length": 547, "key_frame_indices": [ 0, 147, 546 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_269.json" } }, { "id": "droid_molmo_sam2_episode_3222", "task": "Put the wrench inside the blue cup on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3222/0000.jpg", "droid_molmo_sam2/images/episode_3222/0107.jpg", "droid_molmo_sam2/images/episode_3222/0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the wrench inside the blue cup on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the wrench inside the blue cup on the right, execute the following phases: 1) Initial approach phase (start at [0.510, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.633]). The trajectory involves 115 precise waypoints with total movement distance of 0.056." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3222", "trajectory_length": 115, "key_frame_indices": [ 0, 107, 114 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3222.json" } }, { "id": "droid_molmo_sam2_episode_7445", "task": "Push in the first rod of the football table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7445/0000.jpg", "droid_molmo_sam2/images/episode_7445/0134.jpg", "droid_molmo_sam2/images/episode_7445/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push in the first rod of the football table.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push in the first rod of the football table., execute the following phases: 1) Initial approach phase (start at [0.688, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.684, 0.613]). The trajectory involves 148 precise waypoints with total movement distance of 1.134." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7445", "trajectory_length": 148, "key_frame_indices": [ 0, 134, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7445.json" } }, { "id": "droid_molmo_sam2_episode_35022", "task": "Turn on the light", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35022/0000.jpg", "droid_molmo_sam2/images/episode_35022/0074.jpg", "droid_molmo_sam2/images/episode_35022/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the light?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn on the light, execute the following phases: 1) Initial approach phase (start at [0.586, 0.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.138]). The trajectory involves 136 precise waypoints with total movement distance of 1.726." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35022", "trajectory_length": 136, "key_frame_indices": [ 0, 74, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35022.json" } }, { "id": "droid_molmo_sam2_episode_46", "task": "Put the clear plastic bowl on the coffee maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_46/0000.jpg", "droid_molmo_sam2/images/episode_46/0068.jpg", "droid_molmo_sam2/images/episode_46/0176.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_molmo_sam2 manipulation: Put the clear plastic bowl on the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.406, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.198]). The trajectory involves 177 precise waypoints with total movement distance of 0.967." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_46", "trajectory_length": 177, "key_frame_indices": [ 0, 68, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_46.json" } }, { "id": "droid_molmo_sam2_episode_3176", "task": "Pick up the spoon, scope the objects from the bottle and put them in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3176/0000.jpg", "droid_molmo_sam2/images/episode_3176/0348.jpg", "droid_molmo_sam2/images/episode_3176/0397.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the spoon, scope the objects from the bottle and put them in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the spoon, scope the objects from the bottle and put them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.766, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.758, 0.779]). The trajectory involves 398 precise waypoints with total movement distance of 2.636." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3176", "trajectory_length": 398, "key_frame_indices": [ 0, 348, 397 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3176.json" } }, { "id": "droid_molmo_sam2_episode_3178", "task": "Remove the pen from the green cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3178/0000.jpg", "droid_molmo_sam2/images/episode_3178/0063.jpg", "droid_molmo_sam2/images/episode_3178/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the green cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the green cup, execute the following phases: 1) Initial approach phase (start at [0.486, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.489]). The trajectory involves 109 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3178", "trajectory_length": 109, "key_frame_indices": [ 0, 63, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3178.json" } }, { "id": "droid_molmo_sam2_episode_38123", "task": "Put the pink lid on the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38123/0000.jpg", "droid_molmo_sam2/images/episode_38123/0281.jpg", "droid_molmo_sam2/images/episode_38123/0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink lid on the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink lid on the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.779, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.789, 0.519]). The trajectory involves 295 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38123", "trajectory_length": 295, "key_frame_indices": [ 0, 281, 294 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38123.json" } }, { "id": "droid_molmo_sam2_episode_36518", "task": "Move the plate near the glass bottle slightly to the front", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36518/0000.jpg", "droid_molmo_sam2/images/episode_36518/0188.jpg", "droid_molmo_sam2/images/episode_36518/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plate near the glass bottle slightly to the front?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plate near the glass bottle slightly to the front, execute the following phases: 1) Initial approach phase (start at [0.328, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.841]). The trajectory involves 237 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36518", "trajectory_length": 237, "key_frame_indices": [ 0, 188, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36518.json" } }, { "id": "droid_molmo_sam2_episode_33754", "task": "Fold the white cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33754/0000.jpg", "droid_molmo_sam2/images/episode_33754/0353.jpg", "droid_molmo_sam2/images/episode_33754/0471.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.580, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.641]). The trajectory involves 472 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33754", "trajectory_length": 472, "key_frame_indices": [ 0, 353, 471 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33754.json" } }, { "id": "droid_molmo_sam2_episode_7245", "task": "Clean the table with the black cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7245/0000.jpg", "droid_molmo_sam2/images/episode_7245/0070.jpg", "droid_molmo_sam2/images/episode_7245/0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Clean the table with the black cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Clean the table with the black cloth, execute the following phases: 1) Initial approach phase (start at [0.582, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.865]). The trajectory involves 286 precise waypoints with total movement distance of 1.309." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7245", "trajectory_length": 286, "key_frame_indices": [ 0, 70, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7245.json" } }, { "id": "droid_molmo_sam2_episode_3232", "task": "Close the microwave door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3232/0000.jpg", "droid_molmo_sam2/images/episode_3232/0106.jpg", "droid_molmo_sam2/images/episode_3232/0167.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 [0.263, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.490]). The trajectory involves 168 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3232", "trajectory_length": 168, "key_frame_indices": [ 0, 106, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3232.json" } }, { "id": "droid_molmo_sam2_episode_36477", "task": "Move the orange cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36477/0000.jpg", "droid_molmo_sam2/images/episode_36477/0048.jpg", "droid_molmo_sam2/images/episode_36477/0066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange cloth?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange cloth, execute the following phases: 1) Initial approach phase (start at [0.562, 0.428]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.373]). The trajectory involves 67 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36477", "trajectory_length": 67, "key_frame_indices": [ 0, 48, 66 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36477.json" } }, { "id": "droid_molmo_sam2_episode_3719", "task": "Press the third button from the left of the adaptor.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3719/0000.jpg", "droid_molmo_sam2/images/episode_3719/0115.jpg", "droid_molmo_sam2/images/episode_3719/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the third button from the left of the adaptor.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the third button from the left of the adaptor., execute the following phases: 1) Initial approach phase (start at [0.556, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.463]). The trajectory involves 121 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3719", "trajectory_length": 121, "key_frame_indices": [ 0, 115, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3719.json" } }, { "id": "droid_molmo_sam2_episode_451", "task": "Pick up the pen from the chair and put it in the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_451/0000.jpg", "droid_molmo_sam2/images/episode_451/0032.jpg", "droid_molmo_sam2/images/episode_451/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the chair and put it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the chair and put it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.528, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.772]). The trajectory involves 123 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_451", "trajectory_length": 123, "key_frame_indices": [ 0, 32, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_451.json" } }, { "id": "droid_molmo_sam2_episode_7423", "task": "Pick the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7423/0000.jpg", "droid_molmo_sam2/images/episode_7423/0087.jpg", "droid_molmo_sam2/images/episode_7423/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.555, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.522]). The trajectory involves 144 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7423", "trajectory_length": 144, "key_frame_indices": [ 0, 87, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7423.json" } }, { "id": "droid_molmo_sam2_episode_31821", "task": "Remove the object from the white bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31821/0000.jpg", "droid_molmo_sam2/images/episode_31821/0110.jpg", "droid_molmo_sam2/images/episode_31821/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the object from the white bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the object from the white bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.644, 0.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.379]). The trajectory involves 152 precise waypoints with total movement distance of 1.074." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31821", "trajectory_length": 152, "key_frame_indices": [ 0, 110, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31821.json" } }, { "id": "droid_molmo_sam2_episode_39452", "task": "Move the orange cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39452/0000.jpg", "droid_molmo_sam2/images/episode_39452/0059.jpg", "droid_molmo_sam2/images/episode_39452/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange cloth?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange cloth, execute the following phases: 1) Initial approach phase (start at [0.537, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.367]). The trajectory involves 98 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39452", "trajectory_length": 98, "key_frame_indices": [ 0, 59, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39452.json" } }, { "id": "droid_molmo_sam2_episode_34008", "task": "Move the cup forward slightly", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34008/0000.jpg", "droid_molmo_sam2/images/episode_34008/0066.jpg", "droid_molmo_sam2/images/episode_34008/0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward slightly, execute the following phases: 1) Initial approach phase (start at [0.523, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.663, 0.625]). The trajectory involves 94 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34008", "trajectory_length": 94, "key_frame_indices": [ 0, 66, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34008.json" } }, { "id": "droid_molmo_sam2_episode_33730", "task": "Put the cup on the bottom surface on the cupboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33730/0000.jpg", "droid_molmo_sam2/images/episode_33730/0124.jpg", "droid_molmo_sam2/images/episode_33730/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup on the bottom surface on the cupboard?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup on the bottom surface on the cupboard, execute the following phases: 1) Initial approach phase (start at [0.383, 0.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.529]). The trajectory involves 188 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33730", "trajectory_length": 188, "key_frame_indices": [ 0, 124, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33730.json" } }, { "id": "droid_molmo_sam2_episode_39943", "task": "Unfold the white napkin once.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39943/0000.jpg", "droid_molmo_sam2/images/episode_39943/0260.jpg", "droid_molmo_sam2/images/episode_39943/0324.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white napkin once.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the white napkin once., 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 [0.515, 0.594]). The trajectory involves 325 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39943", "trajectory_length": 325, "key_frame_indices": [ 0, 260, 324 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39943.json" } }, { "id": "droid_molmo_sam2_episode_1722", "task": "Move the white toy to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1722/0000.jpg", "droid_molmo_sam2/images/episode_1722/0085.jpg", "droid_molmo_sam2/images/episode_1722/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white toy to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white toy to the left, execute the following phases: 1) Initial approach phase (start at [0.593, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.507]). The trajectory involves 121 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1722", "trajectory_length": 121, "key_frame_indices": [ 0, 85, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1722.json" } }, { "id": "droid_molmo_sam2_episode_31262", "task": "Remove the pen from the black mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31262/0000.jpg", "droid_molmo_sam2/images/episode_31262/0097.jpg", "droid_molmo_sam2/images/episode_31262/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the black mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the black mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.502, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.490]). The trajectory involves 112 precise waypoints with total movement distance of 0.704." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31262", "trajectory_length": 112, "key_frame_indices": [ 0, 97, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31262.json" } }, { "id": "droid_molmo_sam2_episode_3560", "task": "Pick up the pen from the table and put it in the yellow cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3560/0000.jpg", "droid_molmo_sam2/images/episode_3560/0220.jpg", "droid_molmo_sam2/images/episode_3560/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the yellow cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the yellow cup., execute the following phases: 1) Initial approach phase (start at [0.573, 0.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 228 precise waypoints with total movement distance of 0.923." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3560", "trajectory_length": 228, "key_frame_indices": [ 0, 220, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3560.json" } }, { "id": "droid_molmo_sam2_episode_30779", "task": "Put the carrot toy on the silver pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30779/0000.jpg", "droid_molmo_sam2/images/episode_30779/0097.jpg", "droid_molmo_sam2/images/episode_30779/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot toy on the silver pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot toy on the silver pan, execute the following phases: 1) Initial approach phase (start at [0.585, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.506]). The trajectory involves 162 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30779", "trajectory_length": 162, "key_frame_indices": [ 0, 97, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30779.json" } }, { "id": "droid_molmo_sam2_episode_33064", "task": "Remove the thing from the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33064/0000.jpg", "droid_molmo_sam2/images/episode_33064/0070.jpg", "droid_molmo_sam2/images/episode_33064/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the thing from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the thing from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.469, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.393, 0.550]). The trajectory involves 103 precise waypoints with total movement distance of 0.634." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33064", "trajectory_length": 103, "key_frame_indices": [ 0, 70, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33064.json" } }, { "id": "droid_molmo_sam2_episode_37987", "task": "Unhang the yellow and gray towels and put them on the chair, and then open the bathing room door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37987/0000.jpg", "droid_molmo_sam2/images/episode_37987/0438.jpg", "droid_molmo_sam2/images/episode_37987/0779.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the yellow and gray towels and put them on the chair, and then open the bathing room door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Unhang the yellow and gray towels and put them on the chair, and then open the bathing room door, execute the following phases: 1) Initial approach phase (start at [0.417, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.739]). The trajectory involves 780 precise waypoints with total movement distance of 4.950." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37987", "trajectory_length": 780, "key_frame_indices": [ 0, 438, 779 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37987.json" } }, { "id": "droid_molmo_sam2_episode_32744", "task": "Put the towel on top of the colourless board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32744/0000.jpg", "droid_molmo_sam2/images/episode_32744/0114.jpg", "droid_molmo_sam2/images/episode_32744/0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on top of the colourless board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on top of the colourless board, execute the following phases: 1) Initial approach phase (start at [0.428, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.298]). The trajectory involves 180 precise waypoints with total movement distance of 1.186." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32744", "trajectory_length": 180, "key_frame_indices": [ 0, 114, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32744.json" } }, { "id": "droid_molmo_sam2_episode_3824", "task": "Remove the white cloth from the black stand and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3824/0000.jpg", "droid_molmo_sam2/images/episode_3824/0082.jpg", "droid_molmo_sam2/images/episode_3824/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cloth from the black stand and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cloth from the black stand and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.491, 0.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.536]). The trajectory involves 110 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3824", "trajectory_length": 110, "key_frame_indices": [ 0, 82, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3824.json" } }, { "id": "droid_molmo_sam2_episode_36894", "task": "Unfold the towel once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36894/0000.jpg", "droid_molmo_sam2/images/episode_36894/0238.jpg", "droid_molmo_sam2/images/episode_36894/0459.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once, execute the following phases: 1) Initial approach phase (start at [0.426, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.561]). The trajectory involves 460 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36894", "trajectory_length": 460, "key_frame_indices": [ 0, 238, 459 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36894.json" } }, { "id": "droid_molmo_sam2_episode_37836", "task": "Close the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37836/0000.jpg", "droid_molmo_sam2/images/episode_37836/0001.jpg", "droid_molmo_sam2/images/episode_37836/0187.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 [0.333, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.460]). The trajectory involves 188 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37836", "trajectory_length": 188, "key_frame_indices": [ 0, 1, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37836.json" } }, { "id": "droid_molmo_sam2_episode_782", "task": "Pick up the paper from the box and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_782/0000.jpg", "droid_molmo_sam2/images/episode_782/0100.jpg", "droid_molmo_sam2/images/episode_782/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper from the box and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the paper from the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.476, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.933]). The trajectory involves 138 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_782", "trajectory_length": 138, "key_frame_indices": [ 0, 100, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_782.json" } }, { "id": "droid_molmo_sam2_episode_6846", "task": "Put the red object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6846/0000.jpg", "droid_molmo_sam2/images/episode_6846/0062.jpg", "droid_molmo_sam2/images/episode_6846/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.765, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.689]). The trajectory involves 107 precise waypoints with total movement distance of 0.692." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6846", "trajectory_length": 107, "key_frame_indices": [ 0, 62, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6846.json" } }, { "id": "droid_molmo_sam2_episode_3695", "task": "Open the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3695/0000.jpg", "droid_molmo_sam2/images/episode_3695/0134.jpg", "droid_molmo_sam2/images/episode_3695/0284.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 [0.387, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.493]). The trajectory involves 285 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3695", "trajectory_length": 285, "key_frame_indices": [ 0, 134, 284 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3695.json" } }, { "id": "droid_molmo_sam2_episode_7206", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7206/0000.jpg", "droid_molmo_sam2/images/episode_7206/0194.jpg", "droid_molmo_sam2/images/episode_7206/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.588, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.377]). The trajectory involves 214 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7206", "trajectory_length": 214, "key_frame_indices": [ 0, 194, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7206.json" } }, { "id": "droid_molmo_sam2_episode_34866", "task": "Use the white cloth to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34866/0000.jpg", "droid_molmo_sam2/images/episode_34866/0444.jpg", "droid_molmo_sam2/images/episode_34866/0503.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white cloth to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white cloth to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.668, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.854]). The trajectory involves 504 precise waypoints with total movement distance of 5.992." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34866", "trajectory_length": 504, "key_frame_indices": [ 0, 444, 503 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34866.json" } }, { "id": "droid_molmo_sam2_episode_6717", "task": "Pick up the black bowl from the table and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6717/0000.jpg", "droid_molmo_sam2/images/episode_6717/0135.jpg", "droid_molmo_sam2/images/episode_6717/0258.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.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the black bowl from the table and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.497, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.598]). The trajectory involves 259 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6717", "trajectory_length": 259, "key_frame_indices": [ 0, 135, 258 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6717.json" } }, { "id": "droid_molmo_sam2_episode_31458", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31458/0000.jpg", "droid_molmo_sam2/images/episode_31458/0129.jpg", "droid_molmo_sam2/images/episode_31458/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.680, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.678, 0.514]). The trajectory involves 209 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31458", "trajectory_length": 209, "key_frame_indices": [ 0, 129, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31458.json" } }, { "id": "droid_molmo_sam2_episode_3855", "task": "Move the tomato to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3855/0000.jpg", "droid_molmo_sam2/images/episode_3855/0124.jpg", "droid_molmo_sam2/images/episode_3855/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tomato to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tomato to the right, execute the following phases: 1) Initial approach phase (start at [0.525, 0.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.411]). The trajectory involves 181 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3855", "trajectory_length": 181, "key_frame_indices": [ 0, 124, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3855.json" } }, { "id": "droid_molmo_sam2_episode_36481", "task": "Shove the cloth in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36481/0000.jpg", "droid_molmo_sam2/images/episode_36481/0434.jpg", "droid_molmo_sam2/images/episode_36481/0472.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Shove the cloth in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Shove the cloth in the box, execute the following phases: 1) Initial approach phase (start at [0.268, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 473 precise waypoints with total movement distance of 1.091." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36481", "trajectory_length": 473, "key_frame_indices": [ 0, 434, 472 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36481.json" } }, { "id": "droid_molmo_sam2_episode_2695", "task": "Drop the clothes from the backrest to the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2695/0000.jpg", "droid_molmo_sam2/images/episode_2695/0209.jpg", "droid_molmo_sam2/images/episode_2695/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Drop the clothes from the backrest to the seat of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Drop the clothes from the backrest to the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.567, 0.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.640]). The trajectory involves 283 precise waypoints with total movement distance of 0.926." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2695", "trajectory_length": 283, "key_frame_indices": [ 0, 209, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2695.json" } }, { "id": "droid_molmo_sam2_episode_32329", "task": "Pick up the pen from the table and put it in the white cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32329/0000.jpg", "droid_molmo_sam2/images/episode_32329/0149.jpg", "droid_molmo_sam2/images/episode_32329/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the white cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the white cup., execute the following phases: 1) Initial approach phase (start at [0.648, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.587]). The trajectory involves 151 precise waypoints with total movement distance of 0.722." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32329", "trajectory_length": 151, "key_frame_indices": [ 0, 149, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32329.json" } }, { "id": "droid_molmo_sam2_episode_31879", "task": "Put the whisk on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31879/0000.jpg", "droid_molmo_sam2/images/episode_31879/0186.jpg", "droid_molmo_sam2/images/episode_31879/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the whisk on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the whisk on the table, execute the following phases: 1) Initial approach phase (start at [0.511, 0.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.562]). The trajectory involves 202 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31879", "trajectory_length": 202, "key_frame_indices": [ 0, 186, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31879.json" } }, { "id": "droid_molmo_sam2_episode_360", "task": "Move the white bottle to the middle shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_360/0000.jpg", "droid_molmo_sam2/images/episode_360/0132.jpg", "droid_molmo_sam2/images/episode_360/0235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white bottle to the middle shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white bottle to the middle shelf, execute the following phases: 1) Initial approach phase (start at [0.462, 0.950]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.258, 0.385]). The trajectory involves 236 precise waypoints with total movement distance of 1.327." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_360", "trajectory_length": 236, "key_frame_indices": [ 0, 132, 235 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_360.json" } }, { "id": "droid_molmo_sam2_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_molmo_sam2/images/episode_4520/0000.jpg", "droid_molmo_sam2/images/episode_4520/0248.jpg", "droid_molmo_sam2/images/episode_4520/0292.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 [0.299, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.789]). The trajectory involves 293 precise waypoints with total movement distance of 3.445." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4520", "trajectory_length": 293, "key_frame_indices": [ 0, 248, 292 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4520.json" } }, { "id": "droid_molmo_sam2_episode_6298", "task": "Take the stapler and spatula out of the white colander.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6298/0000.jpg", "droid_molmo_sam2/images/episode_6298/0132.jpg", "droid_molmo_sam2/images/episode_6298/0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the stapler and spatula out of the white colander.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the stapler and spatula out of the white colander., execute the following phases: 1) Initial approach phase (start at [0.468, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.562]). The trajectory involves 338 precise waypoints with total movement distance of 1.584." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6298", "trajectory_length": 338, "key_frame_indices": [ 0, 132, 337 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6298.json" } }, { "id": "droid_molmo_sam2_episode_32542", "task": "Pick up the cup from the utensil holder and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32542/0000.jpg", "droid_molmo_sam2/images/episode_32542/0171.jpg", "droid_molmo_sam2/images/episode_32542/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup from the utensil holder and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup from the utensil holder and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.578, 0.944]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.945]). The trajectory involves 196 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32542", "trajectory_length": 196, "key_frame_indices": [ 0, 171, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32542.json" } }, { "id": "droid_molmo_sam2_episode_873", "task": "Move the mug cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_873/0000.jpg", "droid_molmo_sam2/images/episode_873/0145.jpg", "droid_molmo_sam2/images/episode_873/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup forward, execute the following phases: 1) Initial approach phase (start at [0.414, 0.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.439]). The trajectory involves 185 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_873", "trajectory_length": 185, "key_frame_indices": [ 0, 145, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_873.json" } }, { "id": "droid_molmo_sam2_episode_4474", "task": "Move the black waste bin forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4474/0000.jpg", "droid_molmo_sam2/images/episode_4474/0197.jpg", "droid_molmo_sam2/images/episode_4474/0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black waste bin forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black waste bin forward, execute the following phases: 1) Initial approach phase (start at [0.602, 0.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.396]). The trajectory involves 241 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4474", "trajectory_length": 241, "key_frame_indices": [ 0, 197, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4474.json" } }, { "id": "droid_molmo_sam2_episode_6462", "task": "Place the container with the green lid inside the bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6462/0000.jpg", "droid_molmo_sam2/images/episode_6462/0158.jpg", "droid_molmo_sam2/images/episode_6462/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the container with the green lid inside the bag?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the container with the green lid inside the bag, execute the following phases: 1) Initial approach phase (start at [0.336, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.954]). The trajectory involves 191 precise waypoints with total movement distance of 0.469." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6462", "trajectory_length": 191, "key_frame_indices": [ 0, 158, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6462.json" } }, { "id": "droid_molmo_sam2_episode_34272", "task": "Get the rightmost plate and put on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34272/0000.jpg", "droid_molmo_sam2/images/episode_34272/0171.jpg", "droid_molmo_sam2/images/episode_34272/0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the rightmost plate and put on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the rightmost plate and put on the counter, execute the following phases: 1) Initial approach phase (start at [0.334, 0.867]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.883]). The trajectory involves 234 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34272", "trajectory_length": 234, "key_frame_indices": [ 0, 171, 233 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34272.json" } }, { "id": "droid_molmo_sam2_episode_38397", "task": "Move the black object to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38397/0000.jpg", "droid_molmo_sam2/images/episode_38397/0116.jpg", "droid_molmo_sam2/images/episode_38397/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black object to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black object to the right, execute the following phases: 1) Initial approach phase (start at [0.474, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.560]). The trajectory involves 147 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38397", "trajectory_length": 147, "key_frame_indices": [ 0, 116, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38397.json" } }, { "id": "droid_molmo_sam2_episode_4182", "task": "Open the second top drawer below the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4182/0000.jpg", "droid_molmo_sam2/images/episode_4182/0143.jpg", "droid_molmo_sam2/images/episode_4182/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the second top drawer below the countertop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the second top drawer below the countertop, execute the following phases: 1) Initial approach phase (start at [0.556, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.668]). The trajectory involves 213 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4182", "trajectory_length": 213, "key_frame_indices": [ 0, 143, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4182.json" } }, { "id": "droid_molmo_sam2_episode_37292", "task": "Put the towel in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37292/0000.jpg", "droid_molmo_sam2/images/episode_37292/0473.jpg", "droid_molmo_sam2/images/episode_37292/0490.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel in the box, execute the following phases: 1) Initial approach phase (start at [0.145, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.393]). The trajectory involves 491 precise waypoints with total movement distance of 1.626." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37292", "trajectory_length": 491, "key_frame_indices": [ 0, 473, 490 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37292.json" } }, { "id": "droid_molmo_sam2_episode_188", "task": "Slide the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_188/0000.jpg", "droid_molmo_sam2/images/episode_188/0220.jpg", "droid_molmo_sam2/images/episode_188/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.801, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 224 precise waypoints with total movement distance of 0.796." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_188", "trajectory_length": 224, "key_frame_indices": [ 0, 220, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_188.json" } }, { "id": "droid_molmo_sam2_episode_6488", "task": "Open the toaster oven", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6488/0000.jpg", "droid_molmo_sam2/images/episode_6488/0446.jpg", "droid_molmo_sam2/images/episode_6488/0467.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the toaster oven?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the toaster oven, execute the following phases: 1) Initial approach phase (start at [0.720, 0.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.396]). The trajectory involves 468 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6488", "trajectory_length": 468, "key_frame_indices": [ 0, 446, 467 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6488.json" } }, { "id": "droid_molmo_sam2_episode_30318", "task": "Remove the blue bag from the storage box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30318/0000.jpg", "droid_molmo_sam2/images/episode_30318/0260.jpg", "droid_molmo_sam2/images/episode_30318/0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue bag from the storage box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue bag from the storage box, execute the following phases: 1) Initial approach phase (start at [0.607, 0.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.511]). The trajectory involves 277 precise waypoints with total movement distance of 1.177." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30318", "trajectory_length": 277, "key_frame_indices": [ 0, 260, 276 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30318.json" } }, { "id": "droid_molmo_sam2_episode_34609", "task": "Remove the blue marker from the yellow mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34609/0000.jpg", "droid_molmo_sam2/images/episode_34609/0197.jpg", "droid_molmo_sam2/images/episode_34609/0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue marker from the yellow mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue marker from the yellow mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.888, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 247 precise waypoints with total movement distance of 1.287." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34609", "trajectory_length": 247, "key_frame_indices": [ 0, 197, 246 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34609.json" } }, { "id": "droid_molmo_sam2_episode_35615", "task": "Pick up the cloth and put it on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35615/0000.jpg", "droid_molmo_sam2/images/episode_35615/0117.jpg", "droid_molmo_sam2/images/episode_35615/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and put it on the pan?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and put it on the pan, execute the following phases: 1) Initial approach phase (start at [0.452, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.503]). The trajectory involves 202 precise waypoints with total movement distance of 1.375." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35615", "trajectory_length": 202, "key_frame_indices": [ 0, 117, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35615.json" } }, { "id": "droid_molmo_sam2_episode_32719", "task": "Pick the bottle from the bowl and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32719/0000.jpg", "droid_molmo_sam2/images/episode_32719/0169.jpg", "droid_molmo_sam2/images/episode_32719/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle from the bowl and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottle from the bowl and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.349, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.475]). The trajectory involves 244 precise waypoints with total movement distance of 0.784." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32719", "trajectory_length": 244, "key_frame_indices": [ 0, 169, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32719.json" } }, { "id": "droid_molmo_sam2_episode_36731", "task": "Put the orange rubber duck in the silver pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36731/0000.jpg", "droid_molmo_sam2/images/episode_36731/0075.jpg", "droid_molmo_sam2/images/episode_36731/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange rubber duck in the silver pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange rubber duck in the silver pot, execute the following phases: 1) Initial approach phase (start at [0.421, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 89 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36731", "trajectory_length": 89, "key_frame_indices": [ 0, 75, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36731.json" } }, { "id": "droid_molmo_sam2_episode_39441", "task": "Put the green bottle in the black bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39441/0000.jpg", "droid_molmo_sam2/images/episode_39441/0115.jpg", "droid_molmo_sam2/images/episode_39441/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green bottle in the black bin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green bottle in the black bin, execute the following phases: 1) Initial approach phase (start at [0.571, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.367]). The trajectory involves 145 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39441", "trajectory_length": 145, "key_frame_indices": [ 0, 115, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39441.json" } }, { "id": "droid_molmo_sam2_episode_7331", "task": "Pick up the spoon and scoop some of the contents from the bowl and pour them in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7331/0000.jpg", "droid_molmo_sam2/images/episode_7331/0270.jpg", "droid_molmo_sam2/images/episode_7331/0518.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the spoon and scoop some of the contents from the bowl and pour them in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the spoon and scoop some of the contents from the bowl and pour them in the cup, execute the following phases: 1) Initial approach phase (start at [0.525, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.919]). The trajectory involves 519 precise waypoints with total movement distance of 7.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7331", "trajectory_length": 519, "key_frame_indices": [ 0, 270, 518 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7331.json" } }, { "id": "droid_molmo_sam2_episode_4419", "task": "Place the marker inside the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4419/0000.jpg", "droid_molmo_sam2/images/episode_4419/0158.jpg", "droid_molmo_sam2/images/episode_4419/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker inside the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.547, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.372]). The trajectory involves 213 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4419", "trajectory_length": 213, "key_frame_indices": [ 0, 158, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4419.json" } }, { "id": "droid_molmo_sam2_episode_32564", "task": "Put the marker on the towel, fold the towel then place it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32564/0000.jpg", "droid_molmo_sam2/images/episode_32564/0262.jpg", "droid_molmo_sam2/images/episode_32564/0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the towel, fold the towel then place it in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the towel, fold the towel then place it in the box, execute the following phases: 1) Initial approach phase (start at [0.480, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.620]). The trajectory involves 302 precise waypoints with total movement distance of 1.639." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32564", "trajectory_length": 302, "key_frame_indices": [ 0, 262, 301 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32564.json" } }, { "id": "droid_molmo_sam2_episode_6062", "task": "Move the yellow mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6062/0000.jpg", "droid_molmo_sam2/images/episode_6062/0174.jpg", "droid_molmo_sam2/images/episode_6062/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug forward, execute the following phases: 1) Initial approach phase (start at [0.299, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.532]). The trajectory involves 275 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6062", "trajectory_length": 275, "key_frame_indices": [ 0, 174, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6062.json" } }, { "id": "droid_molmo_sam2_episode_31544", "task": "Move the black basket to the left side of the sweets", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31544/0000.jpg", "droid_molmo_sam2/images/episode_31544/0135.jpg", "droid_molmo_sam2/images/episode_31544/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black basket to the left side of the sweets?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black basket to the left side of the sweets, execute the following phases: 1) Initial approach phase (start at [0.528, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.852]). The trajectory involves 197 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31544", "trajectory_length": 197, "key_frame_indices": [ 0, 135, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31544.json" } }, { "id": "droid_molmo_sam2_episode_35161", "task": "Take the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35161/0000.jpg", "droid_molmo_sam2/images/episode_35161/0107.jpg", "droid_molmo_sam2/images/episode_35161/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.518, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.527]). The trajectory involves 137 precise waypoints with total movement distance of 0.799." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35161", "trajectory_length": 137, "key_frame_indices": [ 0, 107, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35161.json" } }, { "id": "droid_molmo_sam2_episode_38504", "task": "Take the cloth off the screen then put it back", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38504/0000.jpg", "droid_molmo_sam2/images/episode_38504/0080.jpg", "droid_molmo_sam2/images/episode_38504/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth off the screen then put it back?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the cloth off the screen then put it back, execute the following phases: 1) Initial approach phase (start at [0.482, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.385]). The trajectory involves 210 precise waypoints with total movement distance of 1.355." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38504", "trajectory_length": 210, "key_frame_indices": [ 0, 80, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38504.json" } }, { "id": "droid_molmo_sam2_episode_1522", "task": "Put the black shirt on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1522/0000.jpg", "droid_molmo_sam2/images/episode_1522/0171.jpg", "droid_molmo_sam2/images/episode_1522/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black shirt on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black shirt on the table, execute the following phases: 1) Initial approach phase (start at [0.601, 0.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.453]). The trajectory involves 191 precise waypoints with total movement distance of 0.833." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1522", "trajectory_length": 191, "key_frame_indices": [ 0, 171, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1522.json" } }, { "id": "droid_molmo_sam2_episode_6028", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6028/0000.jpg", "droid_molmo_sam2/images/episode_6028/0112.jpg", "droid_molmo_sam2/images/episode_6028/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.717, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.370]). The trajectory involves 140 precise waypoints with total movement distance of 0.898." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6028", "trajectory_length": 140, "key_frame_indices": [ 0, 112, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6028.json" } }, { "id": "droid_molmo_sam2_episode_34224", "task": "Move the pencil to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34224/0000.jpg", "droid_molmo_sam2/images/episode_34224/0076.jpg", "droid_molmo_sam2/images/episode_34224/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pencil to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pencil to the left, execute the following phases: 1) Initial approach phase (start at [0.672, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.280]). The trajectory involves 106 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34224", "trajectory_length": 106, "key_frame_indices": [ 0, 76, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34224.json" } }, { "id": "droid_molmo_sam2_episode_33533", "task": "Hung the cloth on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33533/0000.jpg", "droid_molmo_sam2/images/episode_33533/0204.jpg", "droid_molmo_sam2/images/episode_33533/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hung the cloth on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hung the cloth on the object, execute the following phases: 1) Initial approach phase (start at [0.603, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.428, 0.424]). The trajectory involves 218 precise waypoints with total movement distance of 1.432." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33533", "trajectory_length": 218, "key_frame_indices": [ 0, 204, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33533.json" } }, { "id": "droid_molmo_sam2_episode_31290", "task": "Pick up the bottle and put it on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31290/0000.jpg", "droid_molmo_sam2/images/episode_31290/0134.jpg", "droid_molmo_sam2/images/episode_31290/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it on the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it on the bowl, execute the following phases: 1) Initial approach phase (start at [0.894, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.805, 0.753]). The trajectory involves 228 precise waypoints with total movement distance of 0.948." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31290", "trajectory_length": 228, "key_frame_indices": [ 0, 134, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31290.json" } }, { "id": "droid_molmo_sam2_episode_3300", "task": "Move the bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3300/0000.jpg", "droid_molmo_sam2/images/episode_3300/0111.jpg", "droid_molmo_sam2/images/episode_3300/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.568, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.443]). The trajectory involves 150 precise waypoints with total movement distance of 1.448." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3300", "trajectory_length": 150, "key_frame_indices": [ 0, 111, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3300.json" } }, { "id": "droid_molmo_sam2_episode_6068", "task": "Pick up the orange plush toy from the basket and place it in the black tray", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6068/0000.jpg", "droid_molmo_sam2/images/episode_6068/0113.jpg", "droid_molmo_sam2/images/episode_6068/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange plush toy from the basket and place it in the black tray?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange plush toy from the basket and place it in the black tray, execute the following phases: 1) Initial approach phase (start at [0.563, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.837]). The trajectory involves 250 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6068", "trajectory_length": 250, "key_frame_indices": [ 0, 113, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6068.json" } }, { "id": "droid_molmo_sam2_episode_13", "task": "Move the pillow", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_13/0000.jpg", "droid_molmo_sam2/images/episode_13/0206.jpg", "droid_molmo_sam2/images/episode_13/0229.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 [0.607, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.607]). The trajectory involves 230 precise waypoints with total movement distance of 0.752." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_13", "trajectory_length": 230, "key_frame_indices": [ 0, 206, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_13.json" } }, { "id": "droid_molmo_sam2_episode_2820", "task": "Move the orange cup from the sink to the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2820/0000.jpg", "droid_molmo_sam2/images/episode_2820/0088.jpg", "droid_molmo_sam2/images/episode_2820/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange cup from the sink to the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange cup from the sink to the counter, execute the following phases: 1) Initial approach phase (start at [0.405, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.767]). The trajectory involves 210 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2820", "trajectory_length": 210, "key_frame_indices": [ 0, 88, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2820.json" } }, { "id": "droid_molmo_sam2_episode_4547", "task": "Move the marker to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4547/0000.jpg", "droid_molmo_sam2/images/episode_4547/0097.jpg", "droid_molmo_sam2/images/episode_4547/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.403, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.471]). The trajectory involves 151 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4547", "trajectory_length": 151, "key_frame_indices": [ 0, 97, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4547.json" } }, { "id": "droid_molmo_sam2_episode_583", "task": "Move the cube to the right on the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_583/0000.jpg", "droid_molmo_sam2/images/episode_583/0124.jpg", "droid_molmo_sam2/images/episode_583/0162.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 [0.530, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.884, 0.918]). The trajectory involves 163 precise waypoints with total movement distance of 1.134." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_583", "trajectory_length": 163, "key_frame_indices": [ 0, 124, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_583.json" } }, { "id": "droid_molmo_sam2_episode_1690", "task": "Take the pen out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1690/0000.jpg", "droid_molmo_sam2/images/episode_1690/0062.jpg", "droid_molmo_sam2/images/episode_1690/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.515, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.559]). The trajectory involves 158 precise waypoints with total movement distance of 0.847." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1690", "trajectory_length": 158, "key_frame_indices": [ 0, 62, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1690.json" } }, { "id": "droid_molmo_sam2_episode_2209", "task": "Flip the switch on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2209/0000.jpg", "droid_molmo_sam2/images/episode_2209/0123.jpg", "droid_molmo_sam2/images/episode_2209/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the switch on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the switch on the right, execute the following phases: 1) Initial approach phase (start at [0.588, 0.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.141]). The trajectory involves 132 precise waypoints with total movement distance of 1.035." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2209", "trajectory_length": 132, "key_frame_indices": [ 0, 123, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2209.json" } }, { "id": "droid_molmo_sam2_episode_1171", "task": "Move the pillow on the sofa", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1171/0000.jpg", "droid_molmo_sam2/images/episode_1171/0022.jpg", "droid_molmo_sam2/images/episode_1171/0320.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 [0.360, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.745]). The trajectory involves 321 precise waypoints with total movement distance of 1.179." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1171", "trajectory_length": 321, "key_frame_indices": [ 0, 22, 320 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1171.json" } }, { "id": "droid_molmo_sam2_episode_1997", "task": "Put the orange block on the green block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1997/0000.jpg", "droid_molmo_sam2/images/episode_1997/0103.jpg", "droid_molmo_sam2/images/episode_1997/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the green block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on the green block, execute the following phases: 1) Initial approach phase (start at [0.718, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.416]). The trajectory involves 175 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1997", "trajectory_length": 175, "key_frame_indices": [ 0, 103, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1997.json" } }, { "id": "droid_molmo_sam2_episode_2454", "task": "Remove the marker from the mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2454/0000.jpg", "droid_molmo_sam2/images/episode_2454/0251.jpg", "droid_molmo_sam2/images/episode_2454/0372.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 [0.549, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.608]). The trajectory involves 373 precise waypoints with total movement distance of 0.801." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2454", "trajectory_length": 373, "key_frame_indices": [ 0, 251, 372 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2454.json" } }, { "id": "droid_molmo_sam2_episode_30032", "task": "Put the clear plastic beside the oil", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30032/0000.jpg", "droid_molmo_sam2/images/episode_30032/0336.jpg", "droid_molmo_sam2/images/episode_30032/0433.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the clear plastic beside the oil?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the clear plastic beside the oil, execute the following phases: 1) Initial approach phase (start at [0.332, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.406]). The trajectory involves 434 precise waypoints with total movement distance of 1.127." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30032", "trajectory_length": 434, "key_frame_indices": [ 0, 336, 433 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30032.json" } }, { "id": "droid_molmo_sam2_episode_30374", "task": "Take the marker out of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30374/0000.jpg", "droid_molmo_sam2/images/episode_30374/0117.jpg", "droid_molmo_sam2/images/episode_30374/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the cup, execute the following phases: 1) Initial approach phase (start at [0.594, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.477]). The trajectory involves 145 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30374", "trajectory_length": 145, "key_frame_indices": [ 0, 117, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30374.json" } }, { "id": "droid_molmo_sam2_episode_6698", "task": "Move the silver bowl to the right and move the pan toward the edge of the stove", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6698/0000.jpg", "droid_molmo_sam2/images/episode_6698/0119.jpg", "droid_molmo_sam2/images/episode_6698/0379.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver bowl to the right and move the pan toward the edge of the stove?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver bowl to the right and move the pan toward the edge of the stove, execute the following phases: 1) Initial approach phase (start at [0.243, 0.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.585]). The trajectory involves 380 precise waypoints with total movement distance of 1.629." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6698", "trajectory_length": 380, "key_frame_indices": [ 0, 119, 379 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6698.json" } }, { "id": "droid_molmo_sam2_episode_32199", "task": "Pour some of the contents of the jug into the red bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32199/0000.jpg", "droid_molmo_sam2/images/episode_32199/0083.jpg", "droid_molmo_sam2/images/episode_32199/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some of the contents of the jug into the red bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour some of the contents of the jug into the red bowl, execute the following phases: 1) Initial approach phase (start at [0.647, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.604]). The trajectory involves 258 precise waypoints with total movement distance of 1.081." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32199", "trajectory_length": 258, "key_frame_indices": [ 0, 83, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32199.json" } }, { "id": "droid_molmo_sam2_episode_7107", "task": "Pick up the white plate from the dish rack and put it on the countertop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7107/0000.jpg", "droid_molmo_sam2/images/episode_7107/0261.jpg", "droid_molmo_sam2/images/episode_7107/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white plate from the dish rack and put it on the countertop.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white plate from the dish rack and put it on the countertop., execute the following phases: 1) Initial approach phase (start at [0.371, 0.932]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.511]). The trajectory involves 341 precise waypoints with total movement distance of 0.847." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7107", "trajectory_length": 341, "key_frame_indices": [ 0, 261, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7107.json" } }, { "id": "droid_molmo_sam2_episode_36152", "task": "Remove the marker from the cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36152/0000.jpg", "droid_molmo_sam2/images/episode_36152/0125.jpg", "droid_molmo_sam2/images/episode_36152/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup., execute the following phases: 1) Initial approach phase (start at [0.541, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.725]). The trajectory involves 136 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36152", "trajectory_length": 136, "key_frame_indices": [ 0, 125, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36152.json" } }, { "id": "droid_molmo_sam2_episode_31173", "task": "Move the white and blue tube to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31173/0000.jpg", "droid_molmo_sam2/images/episode_31173/0144.jpg", "droid_molmo_sam2/images/episode_31173/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white and blue tube to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white and blue tube to the right, execute the following phases: 1) Initial approach phase (start at [0.111, 0.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 219 precise waypoints with total movement distance of 1.553." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31173", "trajectory_length": 219, "key_frame_indices": [ 0, 144, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31173.json" } }, { "id": "droid_molmo_sam2_episode_6096", "task": "Put the marker into the green cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6096/0000.jpg", "droid_molmo_sam2/images/episode_6096/0173.jpg", "droid_molmo_sam2/images/episode_6096/0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the green cup.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the green cup., execute the following phases: 1) Initial approach phase (start at [0.589, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.322]). The trajectory involves 204 precise waypoints with total movement distance of 1.145." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6096", "trajectory_length": 204, "key_frame_indices": [ 0, 173, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6096.json" } }, { "id": "droid_molmo_sam2_episode_6108", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6108/0000.jpg", "droid_molmo_sam2/images/episode_6108/0183.jpg", "droid_molmo_sam2/images/episode_6108/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.578, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.468]). The trajectory involves 195 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6108", "trajectory_length": 195, "key_frame_indices": [ 0, 183, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6108.json" } }, { "id": "droid_molmo_sam2_episode_236", "task": "Open the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_236/0000.jpg", "droid_molmo_sam2/images/episode_236/0259.jpg", "droid_molmo_sam2/images/episode_236/0281.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 [0.611, 0.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.681]). The trajectory involves 282 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_236", "trajectory_length": 282, "key_frame_indices": [ 0, 259, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_236.json" } }, { "id": "droid_molmo_sam2_episode_36614", "task": "Put the pillows upright against the armrest", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36614/0000.jpg", "droid_molmo_sam2/images/episode_36614/0464.jpg", "droid_molmo_sam2/images/episode_36614/0750.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pillows upright against the armrest?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pillows upright against the armrest, execute the following phases: 1) Initial approach phase (start at [0.404, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.657]). The trajectory involves 751 precise waypoints with total movement distance of 1.349." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36614", "trajectory_length": 751, "key_frame_indices": [ 0, 464, 750 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36614.json" } }, { "id": "droid_molmo_sam2_episode_1580", "task": "Take the book in the middle and put it in the black rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1580/0000.jpg", "droid_molmo_sam2/images/episode_1580/0295.jpg", "droid_molmo_sam2/images/episode_1580/0383.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the book in the middle and put it in the black rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the book in the middle and put it in the black rack, execute the following phases: 1) Initial approach phase (start at [0.583, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.589]). The trajectory involves 384 precise waypoints with total movement distance of 1.021." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1580", "trajectory_length": 384, "key_frame_indices": [ 0, 295, 383 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1580.json" } }, { "id": "droid_molmo_sam2_episode_30902", "task": "Fold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30902/0000.jpg", "droid_molmo_sam2/images/episode_30902/0082.jpg", "droid_molmo_sam2/images/episode_30902/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.594, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.801]). The trajectory involves 228 precise waypoints with total movement distance of 0.820." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30902", "trajectory_length": 228, "key_frame_indices": [ 0, 82, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30902.json" } }, { "id": "droid_molmo_sam2_episode_35049", "task": "Hang the orange cloth and shirt on the back of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35049/0000.jpg", "droid_molmo_sam2/images/episode_35049/0317.jpg", "droid_molmo_sam2/images/episode_35049/0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the orange cloth and shirt on the back of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the orange cloth and shirt on the back of the chair, execute the following phases: 1) Initial approach phase (start at [0.535, 0.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.297]). The trajectory involves 370 precise waypoints with total movement distance of 0.644." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35049", "trajectory_length": 370, "key_frame_indices": [ 0, 317, 369 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35049.json" } }, { "id": "droid_molmo_sam2_episode_33349", "task": "Pick the cup and put it upright", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33349/0000.jpg", "droid_molmo_sam2/images/episode_33349/0101.jpg", "droid_molmo_sam2/images/episode_33349/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cup and put it upright?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cup and put it upright, execute the following phases: 1) Initial approach phase (start at [0.647, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.719, 0.580]). The trajectory involves 201 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33349", "trajectory_length": 201, "key_frame_indices": [ 0, 101, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33349.json" } }, { "id": "droid_molmo_sam2_episode_37119", "task": "Close the kettle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37119/0000.jpg", "droid_molmo_sam2/images/episode_37119/0356.jpg", "droid_molmo_sam2/images/episode_37119/0377.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the kettle?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the kettle, execute the following phases: 1) Initial approach phase (start at [0.569, 0.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.077]). The trajectory involves 378 precise waypoints with total movement distance of 0.976." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37119", "trajectory_length": 378, "key_frame_indices": [ 0, 356, 377 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37119.json" } }, { "id": "droid_molmo_sam2_episode_33737", "task": "Move the white cloth towards you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33737/0000.jpg", "droid_molmo_sam2/images/episode_33737/0121.jpg", "droid_molmo_sam2/images/episode_33737/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cloth towards you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cloth towards you, execute the following phases: 1) Initial approach phase (start at [0.349, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.589]). The trajectory involves 223 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33737", "trajectory_length": 223, "key_frame_indices": [ 0, 121, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33737.json" } }, { "id": "droid_molmo_sam2_episode_30387", "task": "Pick up the cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30387/0000.jpg", "droid_molmo_sam2/images/episode_30387/0132.jpg", "droid_molmo_sam2/images/episode_30387/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.554, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.804]). The trajectory involves 151 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30387", "trajectory_length": 151, "key_frame_indices": [ 0, 132, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30387.json" } }, { "id": "droid_molmo_sam2_episode_3223", "task": "Take the scissors out of the open drawer and put it on the countertop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3223/0000.jpg", "droid_molmo_sam2/images/episode_3223/0260.jpg", "droid_molmo_sam2/images/episode_3223/0332.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the scissors out of the open drawer and put it on the countertop.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Take the scissors out of the open drawer and put it on the countertop., execute the following phases: 1) Initial approach phase (start at [0.637, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.698]). The trajectory involves 333 precise waypoints with total movement distance of 0.968." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3223", "trajectory_length": 333, "key_frame_indices": [ 0, 260, 332 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3223.json" } }, { "id": "droid_molmo_sam2_episode_36355", "task": "Get the towel and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36355/0000.jpg", "droid_molmo_sam2/images/episode_36355/0153.jpg", "droid_molmo_sam2/images/episode_36355/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the towel and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the towel and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.555, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 0.742]). The trajectory involves 171 precise waypoints with total movement distance of 0.830." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36355", "trajectory_length": 171, "key_frame_indices": [ 0, 153, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36355.json" } }, { "id": "droid_molmo_sam2_episode_39435", "task": "Pick up the box from the top of the box and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39435/0000.jpg", "droid_molmo_sam2/images/episode_39435/0055.jpg", "droid_molmo_sam2/images/episode_39435/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the box from the top of the box and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the box from the top of the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.410, 0.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.579]). The trajectory involves 118 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39435", "trajectory_length": 118, "key_frame_indices": [ 0, 55, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39435.json" } }, { "id": "droid_molmo_sam2_episode_3236", "task": "Open the door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3236/0000.jpg", "droid_molmo_sam2/images/episode_3236/0061.jpg", "droid_molmo_sam2/images/episode_3236/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door, execute the following phases: 1) Initial approach phase (start at [0.681, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.764, 0.362]). The trajectory involves 170 precise waypoints with total movement distance of 0.894." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3236", "trajectory_length": 170, "key_frame_indices": [ 0, 61, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3236.json" } }, { "id": "droid_molmo_sam2_episode_33309", "task": "Move the white and blue cup slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33309/0000.jpg", "droid_molmo_sam2/images/episode_33309/0106.jpg", "droid_molmo_sam2/images/episode_33309/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white and blue cup slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white and blue cup slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.602, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 0.373]). The trajectory involves 191 precise waypoints with total movement distance of 0.496." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33309", "trajectory_length": 191, "key_frame_indices": [ 0, 106, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33309.json" } }, { "id": "droid_molmo_sam2_episode_4432", "task": "Fold the yellow towel from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4432/0000.jpg", "droid_molmo_sam2/images/episode_4432/0329.jpg", "droid_molmo_sam2/images/episode_4432/0375.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel from right to left, execute the following phases: 1) Initial approach phase (start at [0.662, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.836]). The trajectory involves 376 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4432", "trajectory_length": 376, "key_frame_indices": [ 0, 329, 375 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4432.json" } }, { "id": "droid_molmo_sam2_episode_3220", "task": "Take out two books from the right side of the second shelf on the right and place them on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3220/0000.jpg", "droid_molmo_sam2/images/episode_3220/1273.jpg", "droid_molmo_sam2/images/episode_3220/1346.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take out two books from the right side of the second shelf on the right and place them on the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take out two books from the right side of the second shelf on the right and place them on the left, execute the following phases: 1) Initial approach phase (start at [0.377, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.563]). The trajectory involves 1347 precise waypoints with total movement distance of 1.279." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3220", "trajectory_length": 1347, "key_frame_indices": [ 0, 1273, 1346 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3220.json" } }, { "id": "droid_molmo_sam2_episode_38666", "task": "Put the pen in the cup[", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38666/0000.jpg", "droid_molmo_sam2/images/episode_38666/0200.jpg", "droid_molmo_sam2/images/episode_38666/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup[?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup[, execute the following phases: 1) Initial approach phase (start at [0.536, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.785]). The trajectory involves 226 precise waypoints with total movement distance of 0.783." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38666", "trajectory_length": 226, "key_frame_indices": [ 0, 200, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38666.json" } }, { "id": "droid_molmo_sam2_episode_38988", "task": "Remove the red can from the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38988/0000.jpg", "droid_molmo_sam2/images/episode_38988/0127.jpg", "droid_molmo_sam2/images/episode_38988/0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red can from the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red can from the sink, execute the following phases: 1) Initial approach phase (start at [0.573, 0.910]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.757]). The trajectory involves 261 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38988", "trajectory_length": 261, "key_frame_indices": [ 0, 127, 260 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38988.json" } }, { "id": "droid_molmo_sam2_episode_6740", "task": "Remove the glass lid from the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6740/0000.jpg", "droid_molmo_sam2/images/episode_6740/0132.jpg", "droid_molmo_sam2/images/episode_6740/0176.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 [0.425, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.606]). The trajectory involves 177 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6740", "trajectory_length": 177, "key_frame_indices": [ 0, 132, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6740.json" } }, { "id": "droid_molmo_sam2_episode_31483", "task": "Turn the bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31483/0000.jpg", "droid_molmo_sam2/images/episode_31483/0193.jpg", "droid_molmo_sam2/images/episode_31483/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the bowl to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.440, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.683]). The trajectory involves 222 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31483", "trajectory_length": 222, "key_frame_indices": [ 0, 193, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31483.json" } }, { "id": "droid_molmo_sam2_episode_30424", "task": "Turn on the switch on the adapter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30424/0000.jpg", "droid_molmo_sam2/images/episode_30424/0107.jpg", "droid_molmo_sam2/images/episode_30424/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the switch on the adapter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn on the switch on the adapter, execute the following phases: 1) Initial approach phase (start at [0.461, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.445]). The trajectory involves 160 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30424", "trajectory_length": 160, "key_frame_indices": [ 0, 107, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30424.json" } }, { "id": "droid_molmo_sam2_episode_784", "task": "Pick up two pieces of paper from the countertop and put them in the right bin.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_784/0000.jpg", "droid_molmo_sam2/images/episode_784/0403.jpg", "droid_molmo_sam2/images/episode_784/0601.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up two pieces of paper from the countertop and put them in the right bin.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up two pieces of paper from the countertop and put them in the right bin., execute the following phases: 1) Initial approach phase (start at [0.569, 0.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.374]). The trajectory involves 602 precise waypoints with total movement distance of 2.430." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_784", "trajectory_length": 602, "key_frame_indices": [ 0, 403, 601 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_784.json" } }, { "id": "droid_molmo_sam2_episode_36899", "task": "Pick the clothes on the back rest of the chair and put them on the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36899/0000.jpg", "droid_molmo_sam2/images/episode_36899/0397.jpg", "droid_molmo_sam2/images/episode_36899/0624.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the clothes on the back rest of the chair and put them on the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the clothes on the back rest of the chair and put them on the box, execute the following phases: 1) Initial approach phase (start at [0.547, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.412]). The trajectory involves 625 precise waypoints with total movement distance of 3.414." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36899", "trajectory_length": 625, "key_frame_indices": [ 0, 397, 624 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36899.json" } }, { "id": "droid_molmo_sam2_episode_33144", "task": "Get the spray bottle on the cabinet and put it on the sofa's arm", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33144/0000.jpg", "droid_molmo_sam2/images/episode_33144/0194.jpg", "droid_molmo_sam2/images/episode_33144/0298.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the spray bottle on the cabinet and put it on the sofa's arm?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the spray bottle on the cabinet and put it on the sofa's arm, execute the following phases: 1) Initial approach phase (start at [0.629, 0.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.553]). The trajectory involves 299 precise waypoints with total movement distance of 1.280." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33144", "trajectory_length": 299, "key_frame_indices": [ 0, 194, 298 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33144.json" } }, { "id": "droid_molmo_sam2_episode_31403", "task": "Switch off the extension cord", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31403/0000.jpg", "droid_molmo_sam2/images/episode_31403/0096.jpg", "droid_molmo_sam2/images/episode_31403/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch off the extension cord?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Switch off the extension cord, 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 [0.615, 0.494]). The trajectory involves 114 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31403", "trajectory_length": 114, "key_frame_indices": [ 0, 96, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31403.json" } }, { "id": "droid_molmo_sam2_episode_39088", "task": "Place the object inside the open drawer and close it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39088/0000.jpg", "droid_molmo_sam2/images/episode_39088/0041.jpg", "droid_molmo_sam2/images/episode_39088/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the object inside the open drawer and close it?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Place the object inside the open drawer and close it, execute the following phases: 1) Initial approach phase (start at [0.662, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.555]). The trajectory involves 283 precise waypoints with total movement distance of 0.485." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39088", "trajectory_length": 283, "key_frame_indices": [ 0, 41, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39088.json" } }, { "id": "droid_molmo_sam2_episode_36752", "task": "Fold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36752/0000.jpg", "droid_molmo_sam2/images/episode_36752/0073.jpg", "droid_molmo_sam2/images/episode_36752/0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.653, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.888]). The trajectory involves 338 precise waypoints with total movement distance of 2.333." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36752", "trajectory_length": 338, "key_frame_indices": [ 0, 73, 337 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36752.json" } }, { "id": "droid_molmo_sam2_episode_32512", "task": "Move the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32512/0000.jpg", "droid_molmo_sam2/images/episode_32512/0101.jpg", "droid_molmo_sam2/images/episode_32512/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth, execute the following phases: 1) Initial approach phase (start at [0.393, 0.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.484]). The trajectory involves 124 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32512", "trajectory_length": 124, "key_frame_indices": [ 0, 101, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32512.json" } }, { "id": "droid_molmo_sam2_episode_35461", "task": "Move the cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35461/0000.jpg", "droid_molmo_sam2/images/episode_35461/0106.jpg", "droid_molmo_sam2/images/episode_35461/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward, execute the following phases: 1) Initial approach phase (start at [0.659, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.528]). The trajectory involves 139 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35461", "trajectory_length": 139, "key_frame_indices": [ 0, 106, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35461.json" } }, { "id": "droid_molmo_sam2_episode_34704", "task": "Hang the grey masking tape on the wooden rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34704/0000.jpg", "droid_molmo_sam2/images/episode_34704/0239.jpg", "droid_molmo_sam2/images/episode_34704/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the grey masking tape on the wooden rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the grey masking tape on the wooden rack, execute the following phases: 1) Initial approach phase (start at [0.719, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.526]). The trajectory involves 308 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34704", "trajectory_length": 308, "key_frame_indices": [ 0, 239, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34704.json" } }, { "id": "droid_molmo_sam2_episode_260", "task": "Move the cup closer to the marker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_260/0000.jpg", "droid_molmo_sam2/images/episode_260/0217.jpg", "droid_molmo_sam2/images/episode_260/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup closer to the marker?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup closer to the marker, execute the following phases: 1) Initial approach phase (start at [0.653, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.410]). The trajectory involves 253 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_260", "trajectory_length": 253, "key_frame_indices": [ 0, 217, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_260.json" } }, { "id": "droid_molmo_sam2_episode_7168", "task": "Put the tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7168/0000.jpg", "droid_molmo_sam2/images/episode_7168/0064.jpg", "droid_molmo_sam2/images/episode_7168/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.560, 0.431]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.362]). The trajectory involves 98 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7168", "trajectory_length": 98, "key_frame_indices": [ 0, 64, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7168.json" } }, { "id": "droid_molmo_sam2_episode_37167", "task": "Put the green object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37167/0000.jpg", "droid_molmo_sam2/images/episode_37167/0062.jpg", "droid_molmo_sam2/images/episode_37167/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.573, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.557]). The trajectory involves 109 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37167", "trajectory_length": 109, "key_frame_indices": [ 0, 62, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37167.json" } }, { "id": "droid_molmo_sam2_episode_3244", "task": "Move the yellow object to the top of the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3244/0000.jpg", "droid_molmo_sam2/images/episode_3244/0371.jpg", "droid_molmo_sam2/images/episode_3244/0383.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow object to the top of the cabinet?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow object to the top of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.526, 0.095]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.099]). The trajectory involves 384 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3244", "trajectory_length": 384, "key_frame_indices": [ 0, 371, 383 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3244.json" } }, { "id": "droid_molmo_sam2_episode_32366", "task": "Move the white and yellow packet to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32366/0000.jpg", "droid_molmo_sam2/images/episode_32366/0174.jpg", "droid_molmo_sam2/images/episode_32366/0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white and yellow packet to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white and yellow packet to the right., execute the following phases: 1) Initial approach phase (start at [0.361, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.287]). The trajectory involves 180 precise waypoints with total movement distance of 0.885." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32366", "trajectory_length": 180, "key_frame_indices": [ 0, 174, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32366.json" } }, { "id": "droid_molmo_sam2_episode_31798", "task": "Take the red marker out of the grey bowl then place it back inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31798/0000.jpg", "droid_molmo_sam2/images/episode_31798/0201.jpg", "droid_molmo_sam2/images/episode_31798/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red marker out of the grey bowl then place it back inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the red marker out of the grey bowl then place it back inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.519, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.680]). The trajectory involves 223 precise waypoints with total movement distance of 1.383." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31798", "trajectory_length": 223, "key_frame_indices": [ 0, 201, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31798.json" } }, { "id": "droid_molmo_sam2_episode_4580", "task": "Put some of the rings in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4580/0000.jpg", "droid_molmo_sam2/images/episode_4580/1326.jpg", "droid_molmo_sam2/images/episode_4580/1424.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put some of the rings in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put some of the rings in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.481, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.813]). The trajectory involves 1425 precise waypoints with total movement distance of 1.376." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4580", "trajectory_length": 1425, "key_frame_indices": [ 0, 1326, 1424 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4580.json" } }, { "id": "droid_molmo_sam2_episode_32028", "task": "Put the orange object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32028/0000.jpg", "droid_molmo_sam2/images/episode_32028/0055.jpg", "droid_molmo_sam2/images/episode_32028/0071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.711, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.696, 0.798]). The trajectory involves 72 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32028", "trajectory_length": 72, "key_frame_indices": [ 0, 55, 71 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32028.json" } }, { "id": "droid_molmo_sam2_episode_953", "task": "Place the pink bowl inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_953/0000.jpg", "droid_molmo_sam2/images/episode_953/0099.jpg", "droid_molmo_sam2/images/episode_953/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pink bowl inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the pink bowl inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.690, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.522]). The trajectory involves 147 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_953", "trajectory_length": 147, "key_frame_indices": [ 0, 99, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_953.json" } }, { "id": "droid_molmo_sam2_episode_4147", "task": "Slide the lid of the shape sorting box closed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4147/0000.jpg", "droid_molmo_sam2/images/episode_4147/0058.jpg", "droid_molmo_sam2/images/episode_4147/0115.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 [0.500, 0.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.713]). The trajectory involves 116 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4147", "trajectory_length": 116, "key_frame_indices": [ 0, 58, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4147.json" } }, { "id": "droid_molmo_sam2_episode_31864", "task": "Put the packet in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31864/0000.jpg", "droid_molmo_sam2/images/episode_31864/0112.jpg", "droid_molmo_sam2/images/episode_31864/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the packet in the sink, execute the following phases: 1) Initial approach phase (start at [0.374, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.521, 0.943]). The trajectory involves 190 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31864", "trajectory_length": 190, "key_frame_indices": [ 0, 112, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31864.json" } }, { "id": "droid_molmo_sam2_episode_33185", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33185/0000.jpg", "droid_molmo_sam2/images/episode_33185/0169.jpg", "droid_molmo_sam2/images/episode_33185/0177.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 [0.489, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.501]). The trajectory involves 178 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33185", "trajectory_length": 178, "key_frame_indices": [ 0, 169, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33185.json" } }, { "id": "droid_molmo_sam2_episode_30393", "task": "Take the marker out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30393/0000.jpg", "droid_molmo_sam2/images/episode_30393/0175.jpg", "droid_molmo_sam2/images/episode_30393/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.537, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.533]). The trajectory involves 201 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30393", "trajectory_length": 201, "key_frame_indices": [ 0, 175, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30393.json" } }, { "id": "droid_molmo_sam2_episode_38100", "task": "Move the bowl to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38100/0000.jpg", "droid_molmo_sam2/images/episode_38100/0073.jpg", "droid_molmo_sam2/images/episode_38100/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.574, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.565]). The trajectory involves 111 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38100", "trajectory_length": 111, "key_frame_indices": [ 0, 73, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38100.json" } }, { "id": "droid_molmo_sam2_episode_31511", "task": "Remove the beetroot plushie from the white bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31511/0000.jpg", "droid_molmo_sam2/images/episode_31511/0103.jpg", "droid_molmo_sam2/images/episode_31511/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the beetroot plushie from the white bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the beetroot plushie from the white bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.735, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.600]). The trajectory involves 151 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31511", "trajectory_length": 151, "key_frame_indices": [ 0, 103, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31511.json" } }, { "id": "droid_molmo_sam2_episode_4687", "task": "Push the ball towards the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4687/0000.jpg", "droid_molmo_sam2/images/episode_4687/0206.jpg", "droid_molmo_sam2/images/episode_4687/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the ball towards the box?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the ball towards the box, execute the following phases: 1) Initial approach phase (start at [0.639, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.864]). The trajectory involves 212 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4687", "trajectory_length": 212, "key_frame_indices": [ 0, 206, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4687.json" } }, { "id": "droid_molmo_sam2_episode_474", "task": "Put the silver tape in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_474/0000.jpg", "droid_molmo_sam2/images/episode_474/0139.jpg", "droid_molmo_sam2/images/episode_474/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver tape in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the silver tape in the bowl, execute the following phases: 1) Initial approach phase (start at [0.635, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.747]). The trajectory involves 186 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_474", "trajectory_length": 186, "key_frame_indices": [ 0, 139, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_474.json" } }, { "id": "droid_molmo_sam2_episode_698", "task": "Put the blue measuring cup onto the blue bowel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_698/0000.jpg", "droid_molmo_sam2/images/episode_698/0146.jpg", "droid_molmo_sam2/images/episode_698/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue measuring cup onto the blue bowel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue measuring cup onto the blue bowel, execute the following phases: 1) Initial approach phase (start at [0.314, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.972]). The trajectory involves 191 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_698", "trajectory_length": 191, "key_frame_indices": [ 0, 146, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_698.json" } }, { "id": "droid_molmo_sam2_episode_4422", "task": "Put the white knives inside the mug on the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4422/0000.jpg", "droid_molmo_sam2/images/episode_4422/0023.jpg", "droid_molmo_sam2/images/episode_4422/0330.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white knives inside the mug on the right.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white knives inside the mug on the right., execute the following phases: 1) Initial approach phase (start at [0.844, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.814, 0.491]). The trajectory involves 331 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4422", "trajectory_length": 331, "key_frame_indices": [ 0, 23, 330 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4422.json" } }, { "id": "droid_molmo_sam2_episode_7426", "task": "Move the black basket to the left then move one object on the counter to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7426/0000.jpg", "droid_molmo_sam2/images/episode_7426/0102.jpg", "droid_molmo_sam2/images/episode_7426/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black basket to the left then move one object on the counter to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black basket to the left then move one object on the counter to the right, execute the following phases: 1) Initial approach phase (start at [0.476, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.820]). The trajectory involves 289 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7426", "trajectory_length": 289, "key_frame_indices": [ 0, 102, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7426.json" } }, { "id": "droid_molmo_sam2_episode_35091", "task": "Put the box inside the small bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35091/0000.jpg", "droid_molmo_sam2/images/episode_35091/0070.jpg", "droid_molmo_sam2/images/episode_35091/0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the box inside the small bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the box inside the small bowl, execute the following phases: 1) Initial approach phase (start at [0.350, 0.955]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 274 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35091", "trajectory_length": 274, "key_frame_indices": [ 0, 70, 273 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35091.json" } }, { "id": "droid_molmo_sam2_episode_3585", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3585/0000.jpg", "droid_molmo_sam2/images/episode_3585/0369.jpg", "droid_molmo_sam2/images/episode_3585/0473.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.658, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.496]). The trajectory involves 474 precise waypoints with total movement distance of 1.376." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3585", "trajectory_length": 474, "key_frame_indices": [ 0, 369, 473 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3585.json" } }, { "id": "droid_molmo_sam2_episode_37177", "task": "Pick the green block and move it up on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37177/0000.jpg", "droid_molmo_sam2/images/episode_37177/0092.jpg", "droid_molmo_sam2/images/episode_37177/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the green block and move it up on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the green block and move it up on the table, execute the following phases: 1) Initial approach phase (start at [0.340, 0.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.268]). The trajectory involves 149 precise waypoints with total movement distance of 2.390." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37177", "trajectory_length": 149, "key_frame_indices": [ 0, 92, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37177.json" } }, { "id": "droid_molmo_sam2_episode_37219", "task": "Remove the yellow block from the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37219/0000.jpg", "droid_molmo_sam2/images/episode_37219/0151.jpg", "droid_molmo_sam2/images/episode_37219/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the yellow block from the bowl.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the yellow block from the bowl., execute the following phases: 1) Initial approach phase (start at [0.682, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.606]). The trajectory involves 233 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37219", "trajectory_length": 233, "key_frame_indices": [ 0, 151, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37219.json" } }, { "id": "droid_molmo_sam2_episode_6257", "task": "Put the orange object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6257/0000.jpg", "droid_molmo_sam2/images/episode_6257/0089.jpg", "droid_molmo_sam2/images/episode_6257/0094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.496, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.572, 0.536]). The trajectory involves 95 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6257", "trajectory_length": 95, "key_frame_indices": [ 0, 89, 94 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6257.json" } }, { "id": "droid_molmo_sam2_episode_39909", "task": "Pick up the green object and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39909/0000.jpg", "droid_molmo_sam2/images/episode_39909/0074.jpg", "droid_molmo_sam2/images/episode_39909/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.368, 0.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.343]). The trajectory involves 132 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39909", "trajectory_length": 132, "key_frame_indices": [ 0, 74, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39909.json" } }, { "id": "droid_molmo_sam2_episode_3741", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3741/0000.jpg", "droid_molmo_sam2/images/episode_3741/0075.jpg", "droid_molmo_sam2/images/episode_3741/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.505, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 88 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3741", "trajectory_length": 88, "key_frame_indices": [ 0, 75, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3741.json" } }, { "id": "droid_molmo_sam2_episode_34158", "task": "Hang the cloth on the black object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34158/0000.jpg", "droid_molmo_sam2/images/episode_34158/0076.jpg", "droid_molmo_sam2/images/episode_34158/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the black object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the black object, execute the following phases: 1) Initial approach phase (start at [0.560, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.370]). The trajectory involves 133 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34158", "trajectory_length": 133, "key_frame_indices": [ 0, 76, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34158.json" } }, { "id": "droid_molmo_sam2_episode_1057", "task": "Remove the toy from the shelf and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1057/0000.jpg", "droid_molmo_sam2/images/episode_1057/0132.jpg", "droid_molmo_sam2/images/episode_1057/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the toy from the shelf and put it on the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the toy from the shelf and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.426, 0.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.812]). The trajectory involves 214 precise waypoints with total movement distance of 1.229." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1057", "trajectory_length": 214, "key_frame_indices": [ 0, 132, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1057.json" } }, { "id": "droid_molmo_sam2_episode_32675", "task": "Pick up the towel from the wooden board and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32675/0000.jpg", "droid_molmo_sam2/images/episode_32675/0136.jpg", "droid_molmo_sam2/images/episode_32675/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the towel from the wooden board and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the towel from the wooden board and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.628, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.814]). The trajectory involves 142 precise waypoints with total movement distance of 0.519." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32675", "trajectory_length": 142, "key_frame_indices": [ 0, 136, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32675.json" } }, { "id": "droid_molmo_sam2_episode_35668", "task": "Place the marker inside the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35668/0000.jpg", "droid_molmo_sam2/images/episode_35668/0202.jpg", "droid_molmo_sam2/images/episode_35668/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker inside the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.387, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.669]). The trajectory involves 226 precise waypoints with total movement distance of 0.818." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35668", "trajectory_length": 226, "key_frame_indices": [ 0, 202, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35668.json" } }, { "id": "droid_molmo_sam2_episode_32164", "task": "Remove one tissue square from the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32164/0000.jpg", "droid_molmo_sam2/images/episode_32164/0157.jpg", "droid_molmo_sam2/images/episode_32164/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one tissue square from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one tissue square from the box, execute the following phases: 1) Initial approach phase (start at [0.612, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.423]). The trajectory involves 223 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32164", "trajectory_length": 223, "key_frame_indices": [ 0, 157, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32164.json" } }, { "id": "droid_molmo_sam2_episode_39800", "task": "Use the tissue to wipe the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39800/0000.jpg", "droid_molmo_sam2/images/episode_39800/0190.jpg", "droid_molmo_sam2/images/episode_39800/0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the tissue to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the tissue to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.664, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.958]). The trajectory involves 251 precise waypoints with total movement distance of 1.636." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39800", "trajectory_length": 251, "key_frame_indices": [ 0, 190, 250 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39800.json" } }, { "id": "droid_molmo_sam2_episode_35152", "task": "Move the black shirt to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35152/0000.jpg", "droid_molmo_sam2/images/episode_35152/0112.jpg", "droid_molmo_sam2/images/episode_35152/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black shirt to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black shirt to the right, execute the following phases: 1) Initial approach phase (start at [0.430, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.657]). The trajectory involves 167 precise waypoints with total movement distance of 1.084." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35152", "trajectory_length": 167, "key_frame_indices": [ 0, 112, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35152.json" } }, { "id": "droid_molmo_sam2_episode_3153", "task": "Close the lid of the colourless box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3153/0000.jpg", "droid_molmo_sam2/images/episode_3153/0051.jpg", "droid_molmo_sam2/images/episode_3153/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the colourless box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the colourless box, execute the following phases: 1) Initial approach phase (start at [0.927, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.928, 0.514]). The trajectory involves 177 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3153", "trajectory_length": 177, "key_frame_indices": [ 0, 51, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3153.json" } }, { "id": "droid_molmo_sam2_episode_36811", "task": "Fold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36811/0000.jpg", "droid_molmo_sam2/images/episode_36811/0378.jpg", "droid_molmo_sam2/images/episode_36811/0536.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.576, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.569]). The trajectory involves 537 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36811", "trajectory_length": 537, "key_frame_indices": [ 0, 378, 536 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36811.json" } }, { "id": "droid_molmo_sam2_episode_6346", "task": "Put the rubber band around the brown cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6346/0000.jpg", "droid_molmo_sam2/images/episode_6346/0106.jpg", "droid_molmo_sam2/images/episode_6346/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band around the brown cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rubber band around the brown cup, execute the following phases: 1) Initial approach phase (start at [0.558, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.566]). The trajectory involves 162 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6346", "trajectory_length": 162, "key_frame_indices": [ 0, 106, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6346.json" } }, { "id": "droid_molmo_sam2_episode_3543", "task": "Remove the jumper from the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3543/0000.jpg", "droid_molmo_sam2/images/episode_3543/0153.jpg", "droid_molmo_sam2/images/episode_3543/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the jumper from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the jumper from the box, execute the following phases: 1) Initial approach phase (start at [0.403, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.873]). The trajectory involves 185 precise waypoints with total movement distance of 1.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3543", "trajectory_length": 185, "key_frame_indices": [ 0, 153, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3543.json" } }, { "id": "droid_molmo_sam2_episode_30213", "task": "Put the grey hat inside the pink laundry bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30213/0000.jpg", "droid_molmo_sam2/images/episode_30213/0208.jpg", "droid_molmo_sam2/images/episode_30213/0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey hat inside the pink laundry bag?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the grey hat inside the pink laundry bag, execute the following phases: 1) Initial approach phase (start at [0.520, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.694]). The trajectory involves 298 precise waypoints with total movement distance of 1.420." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30213", "trajectory_length": 298, "key_frame_indices": [ 0, 208, 297 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30213.json" } }, { "id": "droid_molmo_sam2_episode_7058", "task": "Turn off the third switch from the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7058/0000.jpg", "droid_molmo_sam2/images/episode_7058/0064.jpg", "droid_molmo_sam2/images/episode_7058/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the third switch from the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn off the third switch from the left, execute the following phases: 1) Initial approach phase (start at [0.527, 0.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.432]). The trajectory involves 101 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7058", "trajectory_length": 101, "key_frame_indices": [ 0, 64, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7058.json" } }, { "id": "droid_molmo_sam2_episode_6357", "task": "Put the blue cup inside the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6357/0000.jpg", "droid_molmo_sam2/images/episode_6357/0055.jpg", "droid_molmo_sam2/images/episode_6357/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup inside the orange cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cup inside the orange cup, execute the following phases: 1) Initial approach phase (start at [0.534, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.589]). The trajectory involves 121 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6357", "trajectory_length": 121, "key_frame_indices": [ 0, 55, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6357.json" } }, { "id": "droid_molmo_sam2_episode_36726", "task": "Pick up the cloth from the chair back and put it on the sitting base of the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36726/0000.jpg", "droid_molmo_sam2/images/episode_36726/0298.jpg", "droid_molmo_sam2/images/episode_36726/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth from the chair back and put it on the sitting base of the chair.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth from the chair back and put it on the sitting base of the chair., execute the following phases: 1) Initial approach phase (start at [0.193, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.257, 0.865]). The trajectory involves 323 precise waypoints with total movement distance of 0.760." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36726", "trajectory_length": 323, "key_frame_indices": [ 0, 298, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36726.json" } }, { "id": "droid_molmo_sam2_episode_7442", "task": "Use the white napkin to wipe the tabletop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7442/0000.jpg", "droid_molmo_sam2/images/episode_7442/0145.jpg", "droid_molmo_sam2/images/episode_7442/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white napkin to wipe the tabletop.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white napkin to wipe the tabletop., execute the following phases: 1) Initial approach phase (start at [0.498, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.803]). The trajectory involves 198 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7442", "trajectory_length": 198, "key_frame_indices": [ 0, 145, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7442.json" } }, { "id": "droid_molmo_sam2_episode_30411", "task": "Open the chest drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30411/0000.jpg", "droid_molmo_sam2/images/episode_30411/0143.jpg", "droid_molmo_sam2/images/episode_30411/0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the chest drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the chest drawer, execute the following phases: 1) Initial approach phase (start at [0.404, 0.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.371]). The trajectory involves 146 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30411", "trajectory_length": 146, "key_frame_indices": [ 0, 143, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30411.json" } }, { "id": "droid_molmo_sam2_episode_39192", "task": "Pick the cloth on the table and put it on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39192/0000.jpg", "droid_molmo_sam2/images/episode_39192/0161.jpg", "droid_molmo_sam2/images/episode_39192/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth on the table and put it on the stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cloth on the table and put it on the stand, execute the following phases: 1) Initial approach phase (start at [0.503, 0.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.364]). The trajectory involves 216 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39192", "trajectory_length": 216, "key_frame_indices": [ 0, 161, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39192.json" } }, { "id": "droid_molmo_sam2_episode_1405", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1405/0000.jpg", "droid_molmo_sam2/images/episode_1405/0048.jpg", "droid_molmo_sam2/images/episode_1405/0069.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 [0.644, 0.717]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.577, 0.443]). The trajectory involves 70 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1405", "trajectory_length": 70, "key_frame_indices": [ 0, 48, 69 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1405.json" } }, { "id": "droid_molmo_sam2_episode_34750", "task": "Pick up the blue bottle and place it upright on the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34750/0000.jpg", "droid_molmo_sam2/images/episode_34750/0182.jpg", "droid_molmo_sam2/images/episode_34750/0444.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue bottle and place it upright on the right side of the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue bottle and place it upright on the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.529, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.484]). The trajectory involves 445 precise waypoints with total movement distance of 0.916." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34750", "trajectory_length": 445, "key_frame_indices": [ 0, 182, 444 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34750.json" } }, { "id": "droid_molmo_sam2_episode_6285", "task": "Put the lid on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6285/0000.jpg", "droid_molmo_sam2/images/episode_6285/0113.jpg", "droid_molmo_sam2/images/episode_6285/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the counter, execute the following phases: 1) Initial approach phase (start at [0.714, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.718, 0.549]). The trajectory involves 147 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6285", "trajectory_length": 147, "key_frame_indices": [ 0, 113, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6285.json" } }, { "id": "droid_molmo_sam2_episode_428", "task": "Fold the towel on the table in half.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_428/0000.jpg", "droid_molmo_sam2/images/episode_428/0301.jpg", "droid_molmo_sam2/images/episode_428/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel on the table in half.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel on the table in half., 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 [0.436, 0.846]). The trajectory involves 337 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_428", "trajectory_length": 337, "key_frame_indices": [ 0, 301, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_428.json" } }, { "id": "droid_molmo_sam2_episode_1797", "task": "Pick up the kitchen paper from the bowl and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1797/0000.jpg", "droid_molmo_sam2/images/episode_1797/0304.jpg", "droid_molmo_sam2/images/episode_1797/1102.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the kitchen paper from the bowl and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.692, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.833]). The trajectory involves 1103 precise waypoints with total movement distance of 3.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1797", "trajectory_length": 1103, "key_frame_indices": [ 0, 304, 1102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1797.json" } }, { "id": "droid_molmo_sam2_episode_30656", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30656/0000.jpg", "droid_molmo_sam2/images/episode_30656/0079.jpg", "droid_molmo_sam2/images/episode_30656/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.477, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.537]). The trajectory involves 125 precise waypoints with total movement distance of 0.549." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30656", "trajectory_length": 125, "key_frame_indices": [ 0, 79, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30656.json" } }, { "id": "droid_molmo_sam2_episode_36864", "task": "Move the towel from the backrest to the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36864/0000.jpg", "droid_molmo_sam2/images/episode_36864/0171.jpg", "droid_molmo_sam2/images/episode_36864/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel from the backrest to the seat of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel from the backrest to the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.447, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.836]). The trajectory involves 186 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36864", "trajectory_length": 186, "key_frame_indices": [ 0, 171, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36864.json" } }, { "id": "droid_molmo_sam2_episode_1281", "task": "Move the cup closer to the edge of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1281/0000.jpg", "droid_molmo_sam2/images/episode_1281/0084.jpg", "droid_molmo_sam2/images/episode_1281/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup closer to the edge of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup closer to the edge of the table, execute the following phases: 1) Initial approach phase (start at [0.698, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.597]). The trajectory involves 130 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1281", "trajectory_length": 130, "key_frame_indices": [ 0, 84, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1281.json" } }, { "id": "droid_molmo_sam2_episode_556", "task": "Use the towel to wipe the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_556/0000.jpg", "droid_molmo_sam2/images/episode_556/0077.jpg", "droid_molmo_sam2/images/episode_556/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the desk?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the desk, execute the following phases: 1) Initial approach phase (start at [0.498, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.513]). The trajectory involves 141 precise waypoints with total movement distance of 0.779." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_556", "trajectory_length": 141, "key_frame_indices": [ 0, 77, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_556.json" } }, { "id": "droid_molmo_sam2_episode_31451", "task": "Use the towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31451/0000.jpg", "droid_molmo_sam2/images/episode_31451/0403.jpg", "droid_molmo_sam2/images/episode_31451/0423.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.532, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.727]). The trajectory involves 424 precise waypoints with total movement distance of 3.244." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31451", "trajectory_length": 424, "key_frame_indices": [ 0, 403, 423 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31451.json" } }, { "id": "droid_molmo_sam2_episode_33481", "task": "Fold the trouser", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33481/0000.jpg", "droid_molmo_sam2/images/episode_33481/0127.jpg", "droid_molmo_sam2/images/episode_33481/0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the trouser?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the trouser, execute the following phases: 1) Initial approach phase (start at [0.329, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.557]). The trajectory involves 343 precise waypoints with total movement distance of 1.125." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33481", "trajectory_length": 343, "key_frame_indices": [ 0, 127, 342 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33481.json" } }, { "id": "droid_molmo_sam2_episode_35306", "task": "Open the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35306/0000.jpg", "droid_molmo_sam2/images/episode_35306/0214.jpg", "droid_molmo_sam2/images/episode_35306/0228.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 [0.362, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.765]). The trajectory involves 229 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35306", "trajectory_length": 229, "key_frame_indices": [ 0, 214, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35306.json" } }, { "id": "droid_molmo_sam2_episode_30662", "task": "Put the white item in the box and close the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30662/0000.jpg", "droid_molmo_sam2/images/episode_30662/0096.jpg", "droid_molmo_sam2/images/episode_30662/0376.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white item in the box and close the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the white item in the box and close the box, execute the following phases: 1) Initial approach phase (start at [0.491, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.615]). The trajectory involves 377 precise waypoints with total movement distance of 2.024." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30662", "trajectory_length": 377, "key_frame_indices": [ 0, 96, 376 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30662.json" } }, { "id": "droid_molmo_sam2_episode_38430", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38430/0000.jpg", "droid_molmo_sam2/images/episode_38430/0050.jpg", "droid_molmo_sam2/images/episode_38430/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.494, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.503]). The trajectory involves 159 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38430", "trajectory_length": 159, "key_frame_indices": [ 0, 50, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38430.json" } }, { "id": "droid_molmo_sam2_episode_33848", "task": "Pick up the purple cup from the sink and place in the dish dryer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33848/0000.jpg", "droid_molmo_sam2/images/episode_33848/0153.jpg", "droid_molmo_sam2/images/episode_33848/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the purple cup from the sink and place in the dish dryer?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the purple cup from the sink and place in the dish dryer, execute the following phases: 1) Initial approach phase (start at [0.530, 0.947]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.534]). The trajectory involves 224 precise waypoints with total movement distance of 1.004." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33848", "trajectory_length": 224, "key_frame_indices": [ 0, 153, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33848.json" } }, { "id": "droid_molmo_sam2_episode_4199", "task": "Place the glass lid on the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4199/0000.jpg", "droid_molmo_sam2/images/episode_4199/0113.jpg", "droid_molmo_sam2/images/episode_4199/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the glass lid on the black pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the glass lid on the black pot, execute the following phases: 1) Initial approach phase (start at [0.689, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.435]). The trajectory involves 177 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4199", "trajectory_length": 177, "key_frame_indices": [ 0, 113, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4199.json" } }, { "id": "droid_molmo_sam2_episode_30370", "task": "Move the bottle to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30370/0000.jpg", "droid_molmo_sam2/images/episode_30370/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the left., execute the following phases: 1) Initial approach phase (start at [0.561, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.393]). The trajectory involves 173 precise waypoints with total movement distance of 1.335." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30370", "trajectory_length": 173, "key_frame_indices": [ 0, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30370.json" } }, { "id": "droid_molmo_sam2_episode_39078", "task": "Move the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39078/0000.jpg", "droid_molmo_sam2/images/episode_39078/0073.jpg", "droid_molmo_sam2/images/episode_39078/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.543, 0.459]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.759, 0.803]). The trajectory involves 86 precise waypoints with total movement distance of 0.457." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39078", "trajectory_length": 86, "key_frame_indices": [ 0, 73, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39078.json" } }, { "id": "droid_molmo_sam2_episode_7350", "task": "Put the cloth on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7350/0000.jpg", "droid_molmo_sam2/images/episode_7350/0223.jpg", "droid_molmo_sam2/images/episode_7350/0303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.276, 0.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.586]). The trajectory involves 304 precise waypoints with total movement distance of 1.860." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7350", "trajectory_length": 304, "key_frame_indices": [ 0, 223, 303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7350.json" } }, { "id": "droid_molmo_sam2_episode_39462", "task": "Move all the towels from the headrest to the top of the sealed cardboard box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39462/0000.jpg", "droid_molmo_sam2/images/episode_39462/0123.jpg", "droid_molmo_sam2/images/episode_39462/0441.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move all the towels from the headrest to the top of the sealed cardboard box?" }, { "from": "gpt", "value": "To complete this repositioning: Move all the towels from the headrest to the top of the sealed cardboard box, execute the following phases: 1) Initial approach phase (start at [0.496, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 442 precise waypoints with total movement distance of 2.502." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39462", "trajectory_length": 442, "key_frame_indices": [ 0, 123, 441 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39462.json" } }, { "id": "droid_molmo_sam2_episode_33173", "task": "Move the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33173/0000.jpg", "droid_molmo_sam2/images/episode_33173/0060.jpg", "droid_molmo_sam2/images/episode_33173/0073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.521, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.607, 0.721]). The trajectory involves 74 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33173", "trajectory_length": 74, "key_frame_indices": [ 0, 60, 73 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33173.json" } }, { "id": "droid_molmo_sam2_episode_997", "task": "Slide the book to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_997/0000.jpg", "droid_molmo_sam2/images/episode_997/0174.jpg", "droid_molmo_sam2/images/episode_997/0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the book to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the book to the right, execute the following phases: 1) Initial approach phase (start at [0.755, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.885, 0.842]). The trajectory involves 276 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_997", "trajectory_length": 276, "key_frame_indices": [ 0, 174, 275 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_997.json" } }, { "id": "droid_molmo_sam2_episode_2312", "task": "Take the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2312/0000.jpg", "droid_molmo_sam2/images/episode_2312/0169.jpg", "droid_molmo_sam2/images/episode_2312/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.710, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.749]). The trajectory involves 229 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2312", "trajectory_length": 229, "key_frame_indices": [ 0, 169, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2312.json" } }, { "id": "droid_molmo_sam2_episode_6637", "task": "Remove the pen from the plastic container.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6637/0000.jpg", "droid_molmo_sam2/images/episode_6637/0100.jpg", "droid_molmo_sam2/images/episode_6637/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the plastic container.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the plastic container., execute the following phases: 1) Initial approach phase (start at [0.631, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.441]). The trajectory involves 160 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6637", "trajectory_length": 160, "key_frame_indices": [ 0, 100, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6637.json" } }, { "id": "droid_molmo_sam2_episode_945", "task": "Slide the cloth to the left on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_945/0000.jpg", "droid_molmo_sam2/images/episode_945/0121.jpg", "droid_molmo_sam2/images/episode_945/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cloth to the left on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cloth to the left on the counter, execute the following phases: 1) Initial approach phase (start at [0.540, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.568]). The trajectory involves 163 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_945", "trajectory_length": 163, "key_frame_indices": [ 0, 121, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_945.json" } }, { "id": "droid_molmo_sam2_episode_2007", "task": "Remove the yellow object from the blue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2007/0000.jpg", "droid_molmo_sam2/images/episode_2007/0164.jpg", "droid_molmo_sam2/images/episode_2007/0225.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 [0.528, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.877]). The trajectory involves 226 precise waypoints with total movement distance of 0.866." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2007", "trajectory_length": 226, "key_frame_indices": [ 0, 164, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2007.json" } }, { "id": "droid_molmo_sam2_episode_37215", "task": "Fold the green towel on the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37215/0000.jpg", "droid_molmo_sam2/images/episode_37215/0077.jpg", "droid_molmo_sam2/images/episode_37215/0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the green towel on the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the green towel on the towel, execute the following phases: 1) Initial approach phase (start at [0.517, 0.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.560]). The trajectory involves 115 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37215", "trajectory_length": 115, "key_frame_indices": [ 0, 77, 114 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37215.json" } }, { "id": "droid_molmo_sam2_episode_36188", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36188/0000.jpg", "droid_molmo_sam2/images/episode_36188/0377.jpg", "droid_molmo_sam2/images/episode_36188/0402.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.623, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.574]). The trajectory involves 403 precise waypoints with total movement distance of 1.044." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36188", "trajectory_length": 403, "key_frame_indices": [ 0, 377, 402 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36188.json" } }, { "id": "droid_molmo_sam2_episode_1631", "task": "Put the blue cloth on the backrest of the black chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1631/0000.jpg", "droid_molmo_sam2/images/episode_1631/0193.jpg", "droid_molmo_sam2/images/episode_1631/0293.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cloth on the backrest of the black chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cloth on the backrest of the black chair, execute the following phases: 1) Initial approach phase (start at [0.868, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.517]). The trajectory involves 294 precise waypoints with total movement distance of 1.560." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1631", "trajectory_length": 294, "key_frame_indices": [ 0, 193, 293 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1631.json" } }, { "id": "droid_molmo_sam2_episode_2825", "task": "Place the white and blue carton on its side", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2825/0000.jpg", "droid_molmo_sam2/images/episode_2825/0006.jpg", "droid_molmo_sam2/images/episode_2825/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white and blue carton on its side?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white and blue carton on its side, execute the following phases: 1) Initial approach phase (start at [0.523, 0.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.232]). The trajectory involves 145 precise waypoints with total movement distance of 0.956." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2825", "trajectory_length": 145, "key_frame_indices": [ 0, 6, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2825.json" } }, { "id": "droid_molmo_sam2_episode_37490", "task": "Move the white towel to the backrest of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37490/0000.jpg", "droid_molmo_sam2/images/episode_37490/0271.jpg", "droid_molmo_sam2/images/episode_37490/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white towel to the backrest of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white towel to the backrest of the chair, execute the following phases: 1) Initial approach phase (start at [0.647, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.507]). The trajectory involves 280 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37490", "trajectory_length": 280, "key_frame_indices": [ 0, 271, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37490.json" } }, { "id": "droid_molmo_sam2_episode_6160", "task": "Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6160/0000.jpg", "droid_molmo_sam2/images/episode_6160/0001.jpg", "droid_molmo_sam2/images/episode_6160/0470.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf, execute the following phases: 1) Initial approach phase (start at [0.590, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.586]). The trajectory involves 471 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6160", "trajectory_length": 471, "key_frame_indices": [ 0, 1, 470 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6160.json" } }, { "id": "droid_molmo_sam2_episode_6422", "task": "Put the towel on the chair in the laundry hamper", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6422/0000.jpg", "droid_molmo_sam2/images/episode_6422/0124.jpg", "droid_molmo_sam2/images/episode_6422/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the chair in the laundry hamper?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the chair in the laundry hamper, execute the following phases: 1) Initial approach phase (start at [0.394, 0.886]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.935]). The trajectory involves 283 precise waypoints with total movement distance of 1.658." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6422", "trajectory_length": 283, "key_frame_indices": [ 0, 124, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6422.json" } }, { "id": "droid_molmo_sam2_episode_32638", "task": "Turn the tap nozzle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32638/0000.jpg", "droid_molmo_sam2/images/episode_32638/0073.jpg", "droid_molmo_sam2/images/episode_32638/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.619, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.431]). The trajectory involves 119 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32638", "trajectory_length": 119, "key_frame_indices": [ 0, 73, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32638.json" } }, { "id": "droid_molmo_sam2_episode_6038", "task": "Remove the plate from the dishwasher and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6038/0000.jpg", "droid_molmo_sam2/images/episode_6038/0142.jpg", "droid_molmo_sam2/images/episode_6038/0331.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the plate from the dishwasher and put it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the plate from the dishwasher and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.492, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.966]). The trajectory involves 332 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6038", "trajectory_length": 332, "key_frame_indices": [ 0, 142, 331 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6038.json" } }, { "id": "droid_molmo_sam2_episode_4456", "task": "Fold the yellow towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4456/0000.jpg", "droid_molmo_sam2/images/episode_4456/0259.jpg", "droid_molmo_sam2/images/episode_4456/0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel in half, execute the following phases: 1) Initial approach phase (start at [0.543, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.756]). The trajectory involves 309 precise waypoints with total movement distance of 0.515." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4456", "trajectory_length": 309, "key_frame_indices": [ 0, 259, 308 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4456.json" } }, { "id": "droid_molmo_sam2_episode_3110", "task": "Put the white towel inside the black basket.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3110/0000.jpg", "droid_molmo_sam2/images/episode_3110/0109.jpg", "droid_molmo_sam2/images/episode_3110/0355.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel inside the black basket.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel inside the black basket., execute the following phases: 1) Initial approach phase (start at [0.160, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.643]). The trajectory involves 356 precise waypoints with total movement distance of 1.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3110", "trajectory_length": 356, "key_frame_indices": [ 0, 109, 355 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3110.json" } }, { "id": "droid_molmo_sam2_episode_6501", "task": "Take the can out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6501/0000.jpg", "droid_molmo_sam2/images/episode_6501/0099.jpg", "droid_molmo_sam2/images/episode_6501/0291.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_molmo_sam2 manipulation: Take the can out of the sink, execute the following phases: 1) Initial approach phase (start at [0.531, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.847]). The trajectory involves 292 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6501", "trajectory_length": 292, "key_frame_indices": [ 0, 99, 291 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6501.json" } }, { "id": "droid_molmo_sam2_episode_7097", "task": "Move the maize to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7097/0000.jpg", "droid_molmo_sam2/images/episode_7097/0066.jpg", "droid_molmo_sam2/images/episode_7097/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the maize to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the maize to the right, execute the following phases: 1) Initial approach phase (start at [0.608, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.760, 0.584]). The trajectory involves 119 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7097", "trajectory_length": 119, "key_frame_indices": [ 0, 66, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7097.json" } }, { "id": "droid_molmo_sam2_episode_30208", "task": "Put the orange block on the blue block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30208/0000.jpg", "droid_molmo_sam2/images/episode_30208/0143.jpg", "droid_molmo_sam2/images/episode_30208/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the blue block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on the blue block, execute the following phases: 1) Initial approach phase (start at [0.521, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.573]). The trajectory involves 145 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30208", "trajectory_length": 145, "key_frame_indices": [ 0, 143, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30208.json" } }, { "id": "droid_molmo_sam2_episode_31379", "task": "Unfold the shirt on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31379/0000.jpg", "droid_molmo_sam2/images/episode_31379/0221.jpg", "droid_molmo_sam2/images/episode_31379/0407.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the shirt on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the shirt on the table., execute the following phases: 1) Initial approach phase (start at [0.586, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.882]). The trajectory involves 408 precise waypoints with total movement distance of 1.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31379", "trajectory_length": 408, "key_frame_indices": [ 0, 221, 407 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31379.json" } }, { "id": "droid_molmo_sam2_episode_658", "task": "Take the shirt on the bed and put it in the topmost left drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_658/0000.jpg", "droid_molmo_sam2/images/episode_658/0129.jpg", "droid_molmo_sam2/images/episode_658/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the shirt on the bed and put it in the topmost left drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the shirt on the bed and put it in the topmost left drawer, execute the following phases: 1) Initial approach phase (start at [0.479, 0.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.659]). The trajectory involves 136 precise waypoints with total movement distance of 0.669." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_658", "trajectory_length": 136, "key_frame_indices": [ 0, 129, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_658.json" } }, { "id": "droid_molmo_sam2_episode_35645", "task": "Fold the towel from left to right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35645/0000.jpg", "droid_molmo_sam2/images/episode_35645/0151.jpg", "droid_molmo_sam2/images/episode_35645/0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel from left to right.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel from left to right., execute the following phases: 1) Initial approach phase (start at [0.558, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.617]). The trajectory involves 242 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35645", "trajectory_length": 242, "key_frame_indices": [ 0, 151, 241 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35645.json" } }, { "id": "droid_molmo_sam2_episode_37561", "task": "Move the object slightly to the left of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37561/0000.jpg", "droid_molmo_sam2/images/episode_37561/0183.jpg", "droid_molmo_sam2/images/episode_37561/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the object slightly to the left of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the object slightly to the left of the table, execute the following phases: 1) Initial approach phase (start at [0.637, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.560]). The trajectory involves 197 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37561", "trajectory_length": 197, "key_frame_indices": [ 0, 183, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37561.json" } }, { "id": "droid_molmo_sam2_episode_3195", "task": "Close the second cupboard door from the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3195/0000.jpg", "droid_molmo_sam2/images/episode_3195/0100.jpg", "droid_molmo_sam2/images/episode_3195/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the second cupboard door from the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the second cupboard door from the left, execute the following phases: 1) Initial approach phase (start at [0.567, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.682]). The trajectory involves 122 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3195", "trajectory_length": 122, "key_frame_indices": [ 0, 100, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3195.json" } }, { "id": "droid_molmo_sam2_episode_30988", "task": "Put the silver can on top of the microwave", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30988/0000.jpg", "droid_molmo_sam2/images/episode_30988/0114.jpg", "droid_molmo_sam2/images/episode_30988/0331.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver can on top of the microwave?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the silver can on top of the microwave, execute the following phases: 1) Initial approach phase (start at [0.526, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.264]). The trajectory involves 332 precise waypoints with total movement distance of 0.796." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30988", "trajectory_length": 332, "key_frame_indices": [ 0, 114, 331 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30988.json" } }, { "id": "droid_molmo_sam2_episode_21", "task": "Move the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_21/0000.jpg", "droid_molmo_sam2/images/episode_21/0086.jpg", "droid_molmo_sam2/images/episode_21/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.585, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 0.684]). The trajectory involves 110 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_21", "trajectory_length": 110, "key_frame_indices": [ 0, 86, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_21.json" } }, { "id": "droid_molmo_sam2_episode_6006", "task": "Lay the charger across the board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6006/0000.jpg", "droid_molmo_sam2/images/episode_6006/0536.jpg", "droid_molmo_sam2/images/episode_6006/0542.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lay the charger across the board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Lay the charger across the board, execute the following phases: 1) Initial approach phase (start at [0.569, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.625]). The trajectory involves 543 precise waypoints with total movement distance of 1.313." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6006", "trajectory_length": 543, "key_frame_indices": [ 0, 536, 542 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6006.json" } }, { "id": "droid_molmo_sam2_episode_36880", "task": "Use the towel to wipe the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36880/0000.jpg", "droid_molmo_sam2/images/episode_36880/0316.jpg", "droid_molmo_sam2/images/episode_36880/0359.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table., execute the following phases: 1) Initial approach phase (start at [0.478, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.646]). The trajectory involves 360 precise waypoints with total movement distance of 1.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36880", "trajectory_length": 360, "key_frame_indices": [ 0, 316, 359 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36880.json" } }, { "id": "droid_molmo_sam2_episode_38168", "task": "Push the faucet handle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38168/0000.jpg", "droid_molmo_sam2/images/episode_38168/0115.jpg", "droid_molmo_sam2/images/episode_38168/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet handle to the right?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet handle to the right, execute the following phases: 1) Initial approach phase (start at [0.271, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.277, 0.644]). The trajectory involves 160 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38168", "trajectory_length": 160, "key_frame_indices": [ 0, 115, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38168.json" } }, { "id": "droid_molmo_sam2_episode_36870", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36870/0000.jpg", "droid_molmo_sam2/images/episode_36870/0053.jpg", "droid_molmo_sam2/images/episode_36870/0080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.487, 0.808]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.810]). The trajectory involves 81 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36870", "trajectory_length": 81, "key_frame_indices": [ 0, 53, 80 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36870.json" } }, { "id": "droid_molmo_sam2_episode_2725", "task": "Wipe the table with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2725/0000.jpg", "droid_molmo_sam2/images/episode_2725/0096.jpg", "droid_molmo_sam2/images/episode_2725/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the cloth, execute the following phases: 1) Initial approach phase (start at [0.463, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.483]). The trajectory involves 171 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2725", "trajectory_length": 171, "key_frame_indices": [ 0, 96, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2725.json" } }, { "id": "droid_molmo_sam2_episode_39028", "task": "Move the bunny toy to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39028/0000.jpg", "droid_molmo_sam2/images/episode_39028/0079.jpg", "droid_molmo_sam2/images/episode_39028/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bunny toy to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bunny toy to the right, execute the following phases: 1) Initial approach phase (start at [0.484, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.551]). The trajectory involves 124 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39028", "trajectory_length": 124, "key_frame_indices": [ 0, 79, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39028.json" } }, { "id": "droid_molmo_sam2_episode_911", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_911/0000.jpg", "droid_molmo_sam2/images/episode_911/0157.jpg", "droid_molmo_sam2/images/episode_911/0267.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 [0.419, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.654]). The trajectory involves 268 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_911", "trajectory_length": 268, "key_frame_indices": [ 0, 157, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_911.json" } }, { "id": "droid_molmo_sam2_episode_4141", "task": "Slide the bowl to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4141/0000.jpg", "droid_molmo_sam2/images/episode_4141/0177.jpg", "droid_molmo_sam2/images/episode_4141/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.492, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.537]). The trajectory involves 233 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4141", "trajectory_length": 233, "key_frame_indices": [ 0, 177, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4141.json" } }, { "id": "droid_molmo_sam2_episode_6644", "task": "Put the black jersey on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6644/0000.jpg", "droid_molmo_sam2/images/episode_6644/0142.jpg", "droid_molmo_sam2/images/episode_6644/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black jersey on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black jersey on the table, execute the following phases: 1) Initial approach phase (start at [0.734, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.597]). The trajectory involves 195 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6644", "trajectory_length": 195, "key_frame_indices": [ 0, 142, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6644.json" } }, { "id": "droid_molmo_sam2_episode_3519", "task": "Put the cup in the bowl then remove it out of the bowl then put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3519/0000.jpg", "droid_molmo_sam2/images/episode_3519/0080.jpg", "droid_molmo_sam2/images/episode_3519/0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl then remove it out of the bowl then put it in the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Put the cup in the bowl then remove it out of the bowl then put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.457, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.632]). The trajectory involves 239 precise waypoints with total movement distance of 1.047." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3519", "trajectory_length": 239, "key_frame_indices": [ 0, 80, 238 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3519.json" } }, { "id": "droid_molmo_sam2_episode_4430", "task": "Place the blue handle on the holder", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4430/0000.jpg", "droid_molmo_sam2/images/episode_4430/0142.jpg", "droid_molmo_sam2/images/episode_4430/0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue handle on the holder?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the blue handle on the holder, execute the following phases: 1) Initial approach phase (start at [0.281, 0.944]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.734]). The trajectory involves 217 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4430", "trajectory_length": 217, "key_frame_indices": [ 0, 142, 216 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4430.json" } }, { "id": "droid_molmo_sam2_episode_33692", "task": "Pick up the blue object and put it upright on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33692/0000.jpg", "droid_molmo_sam2/images/episode_33692/0273.jpg", "droid_molmo_sam2/images/episode_33692/0331.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue object and put it upright on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue object and put it upright on the table, execute the following phases: 1) Initial approach phase (start at [0.429, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.662]). The trajectory involves 332 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33692", "trajectory_length": 332, "key_frame_indices": [ 0, 273, 331 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33692.json" } }, { "id": "droid_molmo_sam2_episode_1200", "task": "Move the silver bowl forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1200/0000.jpg", "droid_molmo_sam2/images/episode_1200/0143.jpg", "droid_molmo_sam2/images/episode_1200/0259.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 [0.749, 0.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.880]). The trajectory involves 260 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1200", "trajectory_length": 260, "key_frame_indices": [ 0, 143, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1200.json" } }, { "id": "droid_molmo_sam2_episode_667", "task": "Unstack the pots on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_667/0000.jpg", "droid_molmo_sam2/images/episode_667/0664.jpg", "droid_molmo_sam2/images/episode_667/0846.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the pots on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unstack the pots on the table, execute the following phases: 1) Initial approach phase (start at [0.613, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.604]). The trajectory involves 847 precise waypoints with total movement distance of 1.218." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_667", "trajectory_length": 847, "key_frame_indices": [ 0, 664, 846 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_667.json" } }, { "id": "droid_molmo_sam2_episode_30713", "task": "Put all the objects on the table grouped together.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30713/0000.jpg", "droid_molmo_sam2/images/episode_30713/0750.jpg", "droid_molmo_sam2/images/episode_30713/0827.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put all the objects on the table grouped together.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put all the objects on the table grouped together., execute the following phases: 1) Initial approach phase (start at [0.464, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.750]). The trajectory involves 828 precise waypoints with total movement distance of 2.305." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30713", "trajectory_length": 828, "key_frame_indices": [ 0, 750, 827 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30713.json" } }, { "id": "droid_molmo_sam2_episode_32240", "task": "Use the towel to wipe the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32240/0000.jpg", "droid_molmo_sam2/images/episode_32240/0244.jpg", "droid_molmo_sam2/images/episode_32240/0312.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.602, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.623]). The trajectory involves 313 precise waypoints with total movement distance of 1.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32240", "trajectory_length": 313, "key_frame_indices": [ 0, 244, 312 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32240.json" } }, { "id": "droid_molmo_sam2_episode_36249", "task": "Straighten the red cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36249/0000.jpg", "droid_molmo_sam2/images/episode_36249/0049.jpg", "droid_molmo_sam2/images/episode_36249/0620.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the red cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the red cloth, execute the following phases: 1) Initial approach phase (start at [0.543, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.690]). The trajectory involves 621 precise waypoints with total movement distance of 1.671." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36249", "trajectory_length": 621, "key_frame_indices": [ 0, 49, 620 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36249.json" } }, { "id": "droid_molmo_sam2_episode_34745", "task": "Remove the pepper from the pot and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34745/0000.jpg", "droid_molmo_sam2/images/episode_34745/0029.jpg", "droid_molmo_sam2/images/episode_34745/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pepper from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pepper from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.539, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.450]). The trajectory involves 113 precise waypoints with total movement distance of 0.047." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34745", "trajectory_length": 113, "key_frame_indices": [ 0, 29, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34745.json" } }, { "id": "droid_molmo_sam2_episode_6110", "task": "Put the cup in the other cups, then pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6110/0000.jpg", "droid_molmo_sam2/images/episode_6110/0159.jpg", "droid_molmo_sam2/images/episode_6110/0399.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the other cups, then pick up the marker and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Put the cup in the other cups, then pick up the marker and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.562, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.530]). The trajectory involves 400 precise waypoints with total movement distance of 0.631." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6110", "trajectory_length": 400, "key_frame_indices": [ 0, 159, 399 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6110.json" } }, { "id": "droid_molmo_sam2_episode_2036", "task": "Put the marker into the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2036/0000.jpg", "droid_molmo_sam2/images/episode_2036/0149.jpg", "droid_molmo_sam2/images/episode_2036/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the bowl., execute the following phases: 1) Initial approach phase (start at [0.316, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.686]). The trajectory involves 181 precise waypoints with total movement distance of 0.641." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2036", "trajectory_length": 181, "key_frame_indices": [ 0, 149, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2036.json" } }, { "id": "droid_molmo_sam2_episode_38006", "task": "Pick up the grey object from the bag and put it on the countertop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38006/0000.jpg", "droid_molmo_sam2/images/episode_38006/0169.jpg", "droid_molmo_sam2/images/episode_38006/0329.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey object from the bag and put it on the countertop.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the grey object from the bag and put it on the countertop., execute the following phases: 1) Initial approach phase (start at [0.429, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.705]). The trajectory involves 330 precise waypoints with total movement distance of 0.833." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38006", "trajectory_length": 330, "key_frame_indices": [ 0, 169, 329 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38006.json" } }, { "id": "droid_molmo_sam2_episode_7355", "task": "Move the white mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7355/0000.jpg", "droid_molmo_sam2/images/episode_7355/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the right, execute the following phases: 1) Initial approach phase (start at [0.551, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.586]). The trajectory involves 112 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7355", "trajectory_length": 112, "key_frame_indices": [ 0, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7355.json" } }, { "id": "droid_molmo_sam2_episode_30585", "task": "Wipe the table with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30585/0000.jpg", "droid_molmo_sam2/images/episode_30585/0218.jpg", "droid_molmo_sam2/images/episode_30585/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the cloth, execute the following phases: 1) Initial approach phase (start at [0.569, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.568]). The trajectory involves 256 precise waypoints with total movement distance of 1.333." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30585", "trajectory_length": 256, "key_frame_indices": [ 0, 218, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30585.json" } }, { "id": "droid_molmo_sam2_episode_31092", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31092/0000.jpg", "droid_molmo_sam2/images/episode_31092/0077.jpg", "droid_molmo_sam2/images/episode_31092/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.447, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.596]). The trajectory involves 102 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31092", "trajectory_length": 102, "key_frame_indices": [ 0, 77, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31092.json" } }, { "id": "droid_molmo_sam2_episode_38434", "task": "Bunch up the peach sweatshirt", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38434/0000.jpg", "droid_molmo_sam2/images/episode_38434/0172.jpg", "droid_molmo_sam2/images/episode_38434/0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Bunch up the peach sweatshirt?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Bunch up the peach sweatshirt, execute the following phases: 1) Initial approach phase (start at [0.859, 0.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.848, 0.424]). The trajectory involves 286 precise waypoints with total movement distance of 0.771." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38434", "trajectory_length": 286, "key_frame_indices": [ 0, 172, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38434.json" } }, { "id": "droid_molmo_sam2_episode_32001", "task": "Move the white cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32001/0000.jpg", "droid_molmo_sam2/images/episode_32001/0126.jpg", "droid_molmo_sam2/images/episode_32001/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup to the right, execute the following phases: 1) Initial approach phase (start at [0.432, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 0.940]). The trajectory involves 129 precise waypoints with total movement distance of 0.994." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32001", "trajectory_length": 129, "key_frame_indices": [ 0, 126, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32001.json" } }, { "id": "droid_molmo_sam2_episode_31658", "task": "Move the red hat and put it on top of other hats", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31658/0000.jpg", "droid_molmo_sam2/images/episode_31658/0344.jpg", "droid_molmo_sam2/images/episode_31658/0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red hat and put it on top of other hats?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red hat and put it on top of other hats, execute the following phases: 1) Initial approach phase (start at [0.397, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.581]). The trajectory involves 371 precise waypoints with total movement distance of 2.056." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31658", "trajectory_length": 371, "key_frame_indices": [ 0, 344, 370 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31658.json" } }, { "id": "droid_molmo_sam2_episode_1341", "task": "Place the t-shirts on the brown box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1341/0000.jpg", "droid_molmo_sam2/images/episode_1341/0118.jpg", "droid_molmo_sam2/images/episode_1341/0293.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the t-shirts on the brown box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the t-shirts on the brown box, execute the following phases: 1) Initial approach phase (start at [0.366, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.486]). The trajectory involves 294 precise waypoints with total movement distance of 0.813." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1341", "trajectory_length": 294, "key_frame_indices": [ 0, 118, 293 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1341.json" } }, { "id": "droid_molmo_sam2_episode_30343", "task": "Pick the garlic bulbs on the counter and put them in the glass bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30343/0000.jpg", "droid_molmo_sam2/images/episode_30343/0213.jpg", "droid_molmo_sam2/images/episode_30343/0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the garlic bulbs on the counter and put them in the glass bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the garlic bulbs on the counter and put them in the glass bowl, execute the following phases: 1) Initial approach phase (start at [0.678, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.958]). The trajectory involves 342 precise waypoints with total movement distance of 0.990." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30343", "trajectory_length": 342, "key_frame_indices": [ 0, 213, 341 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30343.json" } }, { "id": "droid_molmo_sam2_episode_30113", "task": "Put the white towel into the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30113/0000.jpg", "droid_molmo_sam2/images/episode_30113/0419.jpg", "droid_molmo_sam2/images/episode_30113/0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel into the basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel into the basket, execute the following phases: 1) Initial approach phase (start at [0.286, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 455 precise waypoints with total movement distance of 1.024." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30113", "trajectory_length": 455, "key_frame_indices": [ 0, 419, 454 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30113.json" } }, { "id": "droid_molmo_sam2_episode_6988", "task": "Put the bottles in a straight line", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6988/0000.jpg", "droid_molmo_sam2/images/episode_6988/0440.jpg", "droid_molmo_sam2/images/episode_6988/0637.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottles in a straight line?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the bottles in a straight line, execute the following phases: 1) Initial approach phase (start at [0.527, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.940]). The trajectory involves 638 precise waypoints with total movement distance of 1.117." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6988", "trajectory_length": 638, "key_frame_indices": [ 0, 440, 637 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6988.json" } }, { "id": "droid_molmo_sam2_episode_30147", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30147/0000.jpg", "droid_molmo_sam2/images/episode_30147/0058.jpg", "droid_molmo_sam2/images/episode_30147/0107.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 [0.537, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.642]). The trajectory involves 108 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30147", "trajectory_length": 108, "key_frame_indices": [ 0, 58, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30147.json" } }, { "id": "droid_molmo_sam2_episode_30339", "task": "Pick up the lid from the table and put it on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30339/0000.jpg", "droid_molmo_sam2/images/episode_30339/0128.jpg", "droid_molmo_sam2/images/episode_30339/0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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 lid from the table and put it on the pot, execute the following phases: 1) Initial approach phase (start at [0.424, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.604]). The trajectory involves 264 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30339", "trajectory_length": 264, "key_frame_indices": [ 0, 128, 263 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30339.json" } }, { "id": "droid_molmo_sam2_episode_30540", "task": "Hang the white cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30540/0000.jpg", "droid_molmo_sam2/images/episode_30540/0102.jpg", "droid_molmo_sam2/images/episode_30540/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.534, 0.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.155]). The trajectory involves 159 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30540", "trajectory_length": 159, "key_frame_indices": [ 0, 102, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30540.json" } }, { "id": "droid_molmo_sam2_episode_7448", "task": "Close the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7448/0000.jpg", "droid_molmo_sam2/images/episode_7448/0047.jpg", "droid_molmo_sam2/images/episode_7448/0129.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 [0.473, 0.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.485]). The trajectory involves 130 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7448", "trajectory_length": 130, "key_frame_indices": [ 0, 47, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7448.json" } }, { "id": "droid_molmo_sam2_episode_33282", "task": "Pick up the container from the table and move it forward.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33282/0000.jpg", "droid_molmo_sam2/images/episode_33282/0094.jpg", "droid_molmo_sam2/images/episode_33282/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the container from the table and move it forward.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the container from the table and move it forward., execute the following phases: 1) Initial approach phase (start at [0.808, 0.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.457]). The trajectory involves 127 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33282", "trajectory_length": 127, "key_frame_indices": [ 0, 94, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33282.json" } }, { "id": "droid_molmo_sam2_episode_3693", "task": "Take the black mug out of the open drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3693/0000.jpg", "droid_molmo_sam2/images/episode_3693/0494.jpg", "droid_molmo_sam2/images/episode_3693/0568.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black mug out of the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Take the black mug out of the open drawer, execute the following phases: 1) Initial approach phase (start at [0.635, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.575]). The trajectory involves 569 precise waypoints with total movement distance of 1.305." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3693", "trajectory_length": 569, "key_frame_indices": [ 0, 494, 568 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3693.json" } }, { "id": "droid_molmo_sam2_episode_32140", "task": "Unfold the green cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32140/0000.jpg", "droid_molmo_sam2/images/episode_32140/0106.jpg", "droid_molmo_sam2/images/episode_32140/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the green cloth, execute the following phases: 1) Initial approach phase (start at [0.512, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.485]). The trajectory involves 140 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32140", "trajectory_length": 140, "key_frame_indices": [ 0, 106, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32140.json" } }, { "id": "droid_molmo_sam2_episode_37618", "task": "Move the bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37618/0000.jpg", "droid_molmo_sam2/images/episode_37618/0082.jpg", "droid_molmo_sam2/images/episode_37618/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.641, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.802, 0.427]). The trajectory involves 138 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37618", "trajectory_length": 138, "key_frame_indices": [ 0, 82, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37618.json" } }, { "id": "droid_molmo_sam2_episode_3208", "task": "Remove the capsule from the coffee machine", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3208/0000.jpg", "droid_molmo_sam2/images/episode_3208/0147.jpg", "droid_molmo_sam2/images/episode_3208/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the capsule from the coffee machine?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the capsule from the coffee machine, execute the following phases: 1) Initial approach phase (start at [0.527, 0.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.102]). The trajectory involves 256 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3208", "trajectory_length": 256, "key_frame_indices": [ 0, 147, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3208.json" } }, { "id": "droid_molmo_sam2_episode_4704", "task": "Place the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4704/0000.jpg", "droid_molmo_sam2/images/episode_4704/0100.jpg", "droid_molmo_sam2/images/episode_4704/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.367, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.753]). The trajectory involves 109 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4704", "trajectory_length": 109, "key_frame_indices": [ 0, 100, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4704.json" } }, { "id": "droid_molmo_sam2_episode_1415", "task": "Push the plastic box under the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1415/0000.jpg", "droid_molmo_sam2/images/episode_1415/0044.jpg", "droid_molmo_sam2/images/episode_1415/0089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the plastic box under the cabinet?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the plastic box under the cabinet, execute the following phases: 1) Initial approach phase (start at [0.488, 0.798]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.457, 0.793]). The trajectory involves 90 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1415", "trajectory_length": 90, "key_frame_indices": [ 0, 44, 89 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1415.json" } }, { "id": "droid_molmo_sam2_episode_36661", "task": "Remove the brown mug from the rack then take the yellow pencil out of the mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36661/0000.jpg", "droid_molmo_sam2/images/episode_36661/0090.jpg", "droid_molmo_sam2/images/episode_36661/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the brown mug from the rack then take the yellow pencil out of the mug.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the brown mug from the rack then take the yellow pencil out of the mug., execute the following phases: 1) Initial approach phase (start at [0.423, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.959]). The trajectory involves 323 precise waypoints with total movement distance of 1.257." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36661", "trajectory_length": 323, "key_frame_indices": [ 0, 90, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36661.json" } }, { "id": "droid_molmo_sam2_episode_6585", "task": "Move the white mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6585/0000.jpg", "droid_molmo_sam2/images/episode_6585/0154.jpg", "droid_molmo_sam2/images/episode_6585/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the right, execute the following phases: 1) Initial approach phase (start at [0.515, 0.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.346]). The trajectory involves 253 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6585", "trajectory_length": 253, "key_frame_indices": [ 0, 154, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6585.json" } }, { "id": "droid_molmo_sam2_episode_38313", "task": "Put the cloth in the black item", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38313/0000.jpg", "droid_molmo_sam2/images/episode_38313/0522.jpg", "droid_molmo_sam2/images/episode_38313/0591.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth in the black item?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth in the black item, execute the following phases: 1) Initial approach phase (start at [0.246, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.634]). The trajectory involves 592 precise waypoints with total movement distance of 1.470." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38313", "trajectory_length": 592, "key_frame_indices": [ 0, 522, 591 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38313.json" } }, { "id": "droid_molmo_sam2_episode_7446", "task": "Pick up the pack of snack and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7446/0000.jpg", "droid_molmo_sam2/images/episode_7446/0204.jpg", "droid_molmo_sam2/images/episode_7446/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pack of snack and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pack of snack and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.348, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.928]). The trajectory involves 312 precise waypoints with total movement distance of 1.457." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7446", "trajectory_length": 312, "key_frame_indices": [ 0, 204, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7446.json" } }, { "id": "droid_molmo_sam2_episode_30355", "task": "Move the orange cup to the right next to the purple cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30355/0000.jpg", "droid_molmo_sam2/images/episode_30355/0048.jpg", "droid_molmo_sam2/images/episode_30355/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange cup to the right next to the purple cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange cup to the right next to the purple cup, execute the following phases: 1) Initial approach phase (start at [0.439, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.438, 0.557]). The trajectory involves 202 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30355", "trajectory_length": 202, "key_frame_indices": [ 0, 48, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30355.json" } }, { "id": "droid_molmo_sam2_episode_3172", "task": "Move the red object from inside the sink and place it outside of the sink at the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3172/0000.jpg", "droid_molmo_sam2/images/episode_3172/0040.jpg", "droid_molmo_sam2/images/episode_3172/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red object from inside the sink and place it outside of the sink at the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red object from inside the sink and place it outside of the sink at the right, execute the following phases: 1) Initial approach phase (start at [0.611, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.776]). The trajectory involves 219 precise waypoints with total movement distance of 0.684." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3172", "trajectory_length": 219, "key_frame_indices": [ 0, 40, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3172.json" } }, { "id": "droid_molmo_sam2_episode_1887", "task": "Close the open upper cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1887/0000.jpg", "droid_molmo_sam2/images/episode_1887/0232.jpg", "droid_molmo_sam2/images/episode_1887/0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open upper cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open upper cabinet door, execute the following phases: 1) Initial approach phase (start at [0.582, 0.025]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.023]). The trajectory involves 264 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1887", "trajectory_length": 264, "key_frame_indices": [ 0, 232, 263 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1887.json" } }, { "id": "droid_molmo_sam2_episode_35529", "task": "Pick up the cloth and put it back down neatly", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35529/0000.jpg", "droid_molmo_sam2/images/episode_35529/0229.jpg", "droid_molmo_sam2/images/episode_35529/0879.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and put it back down neatly?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and put it back down neatly, execute the following phases: 1) Initial approach phase (start at [0.508, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.634]). The trajectory involves 880 precise waypoints with total movement distance of 1.302." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35529", "trajectory_length": 880, "key_frame_indices": [ 0, 229, 879 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35529.json" } }, { "id": "droid_molmo_sam2_episode_34139", "task": "Press the switch on the adapter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34139/0000.jpg", "droid_molmo_sam2/images/episode_34139/0101.jpg", "droid_molmo_sam2/images/episode_34139/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the switch on the adapter?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the switch on the adapter, execute the following phases: 1) Initial approach phase (start at [0.730, 0.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.413]). The trajectory involves 119 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34139", "trajectory_length": 119, "key_frame_indices": [ 0, 101, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34139.json" } }, { "id": "droid_molmo_sam2_episode_2300", "task": "Move the black cloth from the chair head rest to the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2300/0000.jpg", "droid_molmo_sam2/images/episode_2300/0128.jpg", "droid_molmo_sam2/images/episode_2300/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black cloth from the chair head rest to the box?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black cloth from the chair head rest to the box, execute the following phases: 1) Initial approach phase (start at [0.458, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.661]). The trajectory involves 194 precise waypoints with total movement distance of 0.896." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2300", "trajectory_length": 194, "key_frame_indices": [ 0, 128, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2300.json" } }, { "id": "droid_molmo_sam2_episode_7299", "task": "Partially pull out the box from the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7299/0000.jpg", "droid_molmo_sam2/images/episode_7299/0104.jpg", "droid_molmo_sam2/images/episode_7299/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Partially pull out the box from the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Partially pull out the box from the shelf, execute the following phases: 1) Initial approach phase (start at [0.450, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.798]). The trajectory involves 158 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7299", "trajectory_length": 158, "key_frame_indices": [ 0, 104, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7299.json" } }, { "id": "droid_molmo_sam2_episode_6247", "task": "Close the door of the device", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6247/0000.jpg", "droid_molmo_sam2/images/episode_6247/0079.jpg", "droid_molmo_sam2/images/episode_6247/0195.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 [0.637, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.728]). The trajectory involves 196 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6247", "trajectory_length": 196, "key_frame_indices": [ 0, 79, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6247.json" } }, { "id": "droid_molmo_sam2_episode_6433", "task": "Put the red marker inside the red mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6433/0000.jpg", "droid_molmo_sam2/images/episode_6433/0095.jpg", "droid_molmo_sam2/images/episode_6433/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the red mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red marker inside the red mug, execute the following phases: 1) Initial approach phase (start at [0.535, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.306]). The trajectory involves 197 precise waypoints with total movement distance of 0.952." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6433", "trajectory_length": 197, "key_frame_indices": [ 0, 95, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6433.json" } }, { "id": "droid_molmo_sam2_episode_38770", "task": "Unfold the towel once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38770/0000.jpg", "droid_molmo_sam2/images/episode_38770/0334.jpg", "droid_molmo_sam2/images/episode_38770/0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once, execute the following phases: 1) Initial approach phase (start at [0.642, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.782]). The trajectory involves 371 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38770", "trajectory_length": 371, "key_frame_indices": [ 0, 334, 370 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38770.json" } }, { "id": "droid_molmo_sam2_episode_44", "task": "Hang the white cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_44/0000.jpg", "droid_molmo_sam2/images/episode_44/0085.jpg", "droid_molmo_sam2/images/episode_44/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.563, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.333]). The trajectory involves 153 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_44", "trajectory_length": 153, "key_frame_indices": [ 0, 85, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_44.json" } }, { "id": "droid_molmo_sam2_episode_7222", "task": "Remove the marker from the mug cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7222/0000.jpg", "droid_molmo_sam2/images/episode_7222/0162.jpg", "droid_molmo_sam2/images/episode_7222/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug cup, execute the following phases: 1) Initial approach phase (start at [0.653, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.566]). The trajectory involves 185 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7222", "trajectory_length": 185, "key_frame_indices": [ 0, 162, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7222.json" } }, { "id": "droid_molmo_sam2_episode_37630", "task": "Use the blue towel to wipe the whiteboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37630/0000.jpg", "droid_molmo_sam2/images/episode_37630/0453.jpg", "droid_molmo_sam2/images/episode_37630/0622.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the blue towel to wipe the whiteboard?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the blue towel to wipe the whiteboard, execute the following phases: 1) Initial approach phase (start at [0.448, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.738, 0.447]). The trajectory involves 623 precise waypoints with total movement distance of 2.085." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37630", "trajectory_length": 623, "key_frame_indices": [ 0, 453, 622 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37630.json" } }, { "id": "droid_molmo_sam2_episode_34298", "task": "Move the clothes from the chair headrest to the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34298/0000.jpg", "droid_molmo_sam2/images/episode_34298/0073.jpg", "droid_molmo_sam2/images/episode_34298/0445.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clothes from the chair headrest to the box?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clothes from the chair headrest to the box, execute the following phases: 1) Initial approach phase (start at [0.558, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.358]). The trajectory involves 446 precise waypoints with total movement distance of 2.280." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34298", "trajectory_length": 446, "key_frame_indices": [ 0, 73, 445 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34298.json" } }, { "id": "droid_molmo_sam2_episode_30807", "task": "Take out the object from the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30807/0000.jpg", "droid_molmo_sam2/images/episode_30807/0262.jpg", "droid_molmo_sam2/images/episode_30807/0293.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take out the object from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take out the object from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.606, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.532]). The trajectory involves 294 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30807", "trajectory_length": 294, "key_frame_indices": [ 0, 262, 293 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30807.json" } }, { "id": "droid_molmo_sam2_episode_37559", "task": "move the bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37559/0000.jpg", "droid_molmo_sam2/images/episode_37559/0109.jpg", "droid_molmo_sam2/images/episode_37559/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: move the bottle?" }, { "from": "gpt", "value": "To complete this repositioning: move the bottle, execute the following phases: 1) Initial approach phase (start at [0.687, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.236, 0.524]). The trajectory involves 225 precise waypoints with total movement distance of 1.192." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37559", "trajectory_length": 225, "key_frame_indices": [ 0, 109, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37559.json" } }, { "id": "droid_molmo_sam2_episode_4163", "task": "Use the towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4163/0000.jpg", "droid_molmo_sam2/images/episode_4163/0344.jpg", "droid_molmo_sam2/images/episode_4163/0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.576, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.514]). The trajectory involves 382 precise waypoints with total movement distance of 2.445." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4163", "trajectory_length": 382, "key_frame_indices": [ 0, 344, 381 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4163.json" } }, { "id": "droid_molmo_sam2_episode_33656", "task": "Close the right cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33656/0000.jpg", "droid_molmo_sam2/images/episode_33656/0111.jpg", "droid_molmo_sam2/images/episode_33656/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the right cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the right cabinet door, execute the following phases: 1) Initial approach phase (start at [0.278, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.493]). The trajectory involves 145 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33656", "trajectory_length": 145, "key_frame_indices": [ 0, 111, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33656.json" } }, { "id": "droid_molmo_sam2_episode_3516", "task": "Move the cutlery to the silver bowl on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3516/0000.jpg", "droid_molmo_sam2/images/episode_3516/0230.jpg", "droid_molmo_sam2/images/episode_3516/0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cutlery to the silver bowl on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cutlery to the silver bowl on the right, execute the following phases: 1) Initial approach phase (start at [0.410, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.839]). The trajectory involves 274 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3516", "trajectory_length": 274, "key_frame_indices": [ 0, 230, 273 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3516.json" } }, { "id": "droid_molmo_sam2_episode_37115", "task": "Put the masking tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37115/0000.jpg", "droid_molmo_sam2/images/episode_37115/0079.jpg", "droid_molmo_sam2/images/episode_37115/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the masking tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the masking tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.400, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.456]). The trajectory involves 124 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37115", "trajectory_length": 124, "key_frame_indices": [ 0, 79, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37115.json" } }, { "id": "droid_molmo_sam2_episode_35143", "task": "Remove the clothes from the chair and put them in the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35143/0000.jpg", "droid_molmo_sam2/images/episode_35143/0124.jpg", "droid_molmo_sam2/images/episode_35143/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothes from the chair and put them in the basket?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothes from the chair and put them in the basket, execute the following phases: 1) Initial approach phase (start at [0.527, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.602]). The trajectory involves 195 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35143", "trajectory_length": 195, "key_frame_indices": [ 0, 124, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35143.json" } }, { "id": "droid_molmo_sam2_episode_31812", "task": "Move the brush inside the flask up and down", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31812/0000.jpg", "droid_molmo_sam2/images/episode_31812/0119.jpg", "droid_molmo_sam2/images/episode_31812/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brush inside the flask up and down?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brush inside the flask up and down, execute the following phases: 1) Initial approach phase (start at [0.894, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.895, 0.415]). The trajectory involves 177 precise waypoints with total movement distance of 2.114." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31812", "trajectory_length": 177, "key_frame_indices": [ 0, 119, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31812.json" } }, { "id": "droid_molmo_sam2_episode_6867", "task": "Place the block in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6867/0000.jpg", "droid_molmo_sam2/images/episode_6867/0054.jpg", "droid_molmo_sam2/images/episode_6867/0056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the block in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.773, 0.655]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.665, 0.659]). The trajectory involves 57 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6867", "trajectory_length": 57, "key_frame_indices": [ 0, 54, 56 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6867.json" } }, { "id": "droid_molmo_sam2_episode_6100", "task": "Put the towel on top of the colourless screen", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6100/0000.jpg", "droid_molmo_sam2/images/episode_6100/0209.jpg", "droid_molmo_sam2/images/episode_6100/0437.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on top of the colourless screen?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on top of the colourless screen, execute the following phases: 1) Initial approach phase (start at [0.602, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.417]). The trajectory involves 438 precise waypoints with total movement distance of 2.409." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6100", "trajectory_length": 438, "key_frame_indices": [ 0, 209, 437 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6100.json" } }, { "id": "droid_molmo_sam2_episode_3893", "task": "Pick up the white bottle from the countertop and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3893/0000.jpg", "droid_molmo_sam2/images/episode_3893/0262.jpg", "droid_molmo_sam2/images/episode_3893/0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white bottle from the countertop and move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the white bottle from the countertop and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.680, 0.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.852, 0.260]). The trajectory involves 290 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3893", "trajectory_length": 290, "key_frame_indices": [ 0, 262, 289 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3893.json" } }, { "id": "droid_molmo_sam2_episode_1706", "task": "Move the blue cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1706/0000.jpg", "droid_molmo_sam2/images/episode_1706/0120.jpg", "droid_molmo_sam2/images/episode_1706/0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cup to the left, execute the following phases: 1) Initial approach phase (start at [0.622, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.644]). The trajectory involves 227 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1706", "trajectory_length": 227, "key_frame_indices": [ 0, 120, 226 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1706.json" } }, { "id": "droid_molmo_sam2_episode_6953", "task": "Pick up the white dish from the stove, pour some some of its contents in the bowl and put the back on the stove.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6953/0000.jpg", "droid_molmo_sam2/images/episode_6953/0160.jpg", "droid_molmo_sam2/images/episode_6953/0422.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white dish from the stove, pour some some of its contents in the bowl and put the back on the stove.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white dish from the stove, pour some some of its contents in the bowl and put the back on the stove., execute the following phases: 1) Initial approach phase (start at [0.473, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.803]). The trajectory involves 423 precise waypoints with total movement distance of 2.184." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6953", "trajectory_length": 423, "key_frame_indices": [ 0, 160, 422 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6953.json" } }, { "id": "droid_molmo_sam2_episode_38594", "task": "Put the pink plate on the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38594/0000.jpg", "droid_molmo_sam2/images/episode_38594/0101.jpg", "droid_molmo_sam2/images/episode_38594/0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink plate on the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink plate on the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.607, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.735, 0.537]). The trajectory involves 343 precise waypoints with total movement distance of 1.375." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38594", "trajectory_length": 343, "key_frame_indices": [ 0, 101, 342 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38594.json" } }, { "id": "droid_molmo_sam2_episode_34175", "task": "Put the snack bar in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34175/0000.jpg", "droid_molmo_sam2/images/episode_34175/0203.jpg", "droid_molmo_sam2/images/episode_34175/0253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack bar in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack bar in the sink, execute the following phases: 1) Initial approach phase (start at [0.331, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.976]). The trajectory involves 254 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34175", "trajectory_length": 254, "key_frame_indices": [ 0, 203, 253 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34175.json" } }, { "id": "droid_molmo_sam2_episode_39259", "task": "Unfold the towel once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39259/0000.jpg", "droid_molmo_sam2/images/episode_39259/0315.jpg", "droid_molmo_sam2/images/episode_39259/0344.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once, execute the following phases: 1) Initial approach phase (start at [0.609, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.775]). The trajectory involves 345 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39259", "trajectory_length": 345, "key_frame_indices": [ 0, 315, 344 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39259.json" } }, { "id": "droid_molmo_sam2_episode_3873", "task": "Straighten out the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3873/0000.jpg", "droid_molmo_sam2/images/episode_3873/0199.jpg", "droid_molmo_sam2/images/episode_3873/0786.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten out the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten out the cloth, execute the following phases: 1) Initial approach phase (start at [0.662, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.777]). The trajectory involves 787 precise waypoints with total movement distance of 1.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3873", "trajectory_length": 787, "key_frame_indices": [ 0, 199, 786 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3873.json" } }, { "id": "droid_molmo_sam2_episode_38557", "task": "Put the banana in the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38557/0000.jpg", "droid_molmo_sam2/images/episode_38557/0089.jpg", "droid_molmo_sam2/images/episode_38557/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the banana in the basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the banana in the basket, execute the following phases: 1) Initial approach phase (start at [0.643, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.789, 0.420]). The trajectory involves 139 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38557", "trajectory_length": 139, "key_frame_indices": [ 0, 89, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38557.json" } }, { "id": "droid_molmo_sam2_episode_3129", "task": "Put the pink object on the counter top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3129/0000.jpg", "droid_molmo_sam2/images/episode_3129/0202.jpg", "droid_molmo_sam2/images/episode_3129/0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink object on the counter top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink object on the counter top, execute the following phases: 1) Initial approach phase (start at [0.455, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 278 precise waypoints with total movement distance of 1.393." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3129", "trajectory_length": 278, "key_frame_indices": [ 0, 202, 277 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3129.json" } }, { "id": "droid_molmo_sam2_episode_31480", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31480/0000.jpg", "droid_molmo_sam2/images/episode_31480/0070.jpg", "droid_molmo_sam2/images/episode_31480/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.601, 0.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.881]). The trajectory involves 102 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31480", "trajectory_length": 102, "key_frame_indices": [ 0, 70, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31480.json" } }, { "id": "droid_molmo_sam2_episode_3966", "task": "Move the brown object to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3966/0000.jpg", "droid_molmo_sam2/images/episode_3966/0071.jpg", "droid_molmo_sam2/images/episode_3966/0102.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 [0.616, 0.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.263]). The trajectory involves 103 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3966", "trajectory_length": 103, "key_frame_indices": [ 0, 71, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3966.json" } }, { "id": "droid_molmo_sam2_episode_32647", "task": "Unfold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32647/0000.jpg", "droid_molmo_sam2/images/episode_32647/0125.jpg", "droid_molmo_sam2/images/episode_32647/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.683, 0.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.431]). The trajectory involves 258 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32647", "trajectory_length": 258, "key_frame_indices": [ 0, 125, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32647.json" } }, { "id": "droid_molmo_sam2_episode_3888", "task": "Put the blue marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3888/0000.jpg", "droid_molmo_sam2/images/episode_3888/0234.jpg", "droid_molmo_sam2/images/episode_3888/0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.930, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 270 precise waypoints with total movement distance of 0.955." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3888", "trajectory_length": 270, "key_frame_indices": [ 0, 234, 269 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3888.json" } }, { "id": "droid_molmo_sam2_episode_38456", "task": "Fold the khaki trousers on the table in half.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38456/0000.jpg", "droid_molmo_sam2/images/episode_38456/0203.jpg", "droid_molmo_sam2/images/episode_38456/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the khaki trousers on the table in half.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the khaki trousers on the table in half., execute the following phases: 1) Initial approach phase (start at [0.327, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.544]). The trajectory involves 312 precise waypoints with total movement distance of 1.697." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38456", "trajectory_length": 312, "key_frame_indices": [ 0, 203, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38456.json" } }, { "id": "droid_molmo_sam2_episode_36631", "task": "Remove the pink plate from the top of the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36631/0000.jpg", "droid_molmo_sam2/images/episode_36631/0118.jpg", "droid_molmo_sam2/images/episode_36631/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pink plate from the top of the blue bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pink plate from the top of the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.825, 0.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.678, 0.587]). The trajectory involves 154 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36631", "trajectory_length": 154, "key_frame_indices": [ 0, 118, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36631.json" } }, { "id": "droid_molmo_sam2_episode_32076", "task": "Pick up the pen and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32076/0000.jpg", "droid_molmo_sam2/images/episode_32076/0207.jpg", "droid_molmo_sam2/images/episode_32076/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.738, 0.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 269 precise waypoints with total movement distance of 1.319." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32076", "trajectory_length": 269, "key_frame_indices": [ 0, 207, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32076.json" } }, { "id": "droid_molmo_sam2_episode_32305", "task": "Move the remote slightly", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32305/0000.jpg", "droid_molmo_sam2/images/episode_32305/0097.jpg", "droid_molmo_sam2/images/episode_32305/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the remote slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Move the remote slightly, execute the following phases: 1) Initial approach phase (start at [0.545, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.801]). The trajectory involves 114 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32305", "trajectory_length": 114, "key_frame_indices": [ 0, 97, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32305.json" } }, { "id": "droid_molmo_sam2_episode_6372", "task": "Put the blue object inside the wooden box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6372/0000.jpg", "droid_molmo_sam2/images/episode_6372/0078.jpg", "droid_molmo_sam2/images/episode_6372/0173.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_molmo_sam2 manipulation: Put the blue object inside the wooden box, execute the following phases: 1) Initial approach phase (start at [0.443, 0.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.475]). The trajectory involves 174 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6372", "trajectory_length": 174, "key_frame_indices": [ 0, 78, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6372.json" } }, { "id": "droid_molmo_sam2_episode_34169", "task": "Move the tea pot to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34169/0000.jpg", "droid_molmo_sam2/images/episode_34169/0299.jpg", "droid_molmo_sam2/images/episode_34169/0419.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tea pot to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tea pot to the left, execute the following phases: 1) Initial approach phase (start at [0.569, 0.912]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.778]). The trajectory involves 420 precise waypoints with total movement distance of 1.274." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34169", "trajectory_length": 420, "key_frame_indices": [ 0, 299, 419 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34169.json" } }, { "id": "droid_molmo_sam2_episode_31878", "task": "Take the grey cloth off of the shelving unit", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31878/0000.jpg", "droid_molmo_sam2/images/episode_31878/0126.jpg", "droid_molmo_sam2/images/episode_31878/0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the grey cloth off of the shelving unit?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the grey cloth off of the shelving unit, execute the following phases: 1) Initial approach phase (start at [0.485, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.167, 0.796]). The trajectory involves 189 precise waypoints with total movement distance of 1.180." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31878", "trajectory_length": 189, "key_frame_indices": [ 0, 126, 188 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31878.json" } }, { "id": "droid_molmo_sam2_episode_2390", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2390/0000.jpg", "droid_molmo_sam2/images/episode_2390/0145.jpg", "droid_molmo_sam2/images/episode_2390/0184.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 [0.520, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.404]). The trajectory involves 185 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2390", "trajectory_length": 185, "key_frame_indices": [ 0, 145, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2390.json" } }, { "id": "droid_molmo_sam2_episode_33328", "task": "Remove the pen from the red and black mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33328/0000.jpg", "droid_molmo_sam2/images/episode_33328/0126.jpg", "droid_molmo_sam2/images/episode_33328/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pen from the red and black mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pen from the red and black mug, execute the following phases: 1) Initial approach phase (start at [0.155, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.574]). The trajectory involves 159 precise waypoints with total movement distance of 0.430." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33328", "trajectory_length": 159, "key_frame_indices": [ 0, 126, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33328.json" } }, { "id": "droid_molmo_sam2_episode_32206", "task": "Wipe the top of the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32206/0000.jpg", "droid_molmo_sam2/images/episode_32206/0051.jpg", "droid_molmo_sam2/images/episode_32206/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the top of the table with the yellow towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the top of the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.385, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.535]). The trajectory involves 163 precise waypoints with total movement distance of 1.819." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32206", "trajectory_length": 163, "key_frame_indices": [ 0, 51, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32206.json" } }, { "id": "droid_molmo_sam2_episode_34670", "task": "Wipe the counter using the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34670/0000.jpg", "droid_molmo_sam2/images/episode_34670/0259.jpg", "droid_molmo_sam2/images/episode_34670/0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the counter using the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the counter using the towel, execute the following phases: 1) Initial approach phase (start at [0.635, 0.859]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.741]). The trajectory involves 320 precise waypoints with total movement distance of 0.887." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34670", "trajectory_length": 320, "key_frame_indices": [ 0, 259, 319 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34670.json" } }, { "id": "droid_molmo_sam2_episode_35835", "task": "Move the mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35835/0000.jpg", "droid_molmo_sam2/images/episode_35835/0119.jpg", "droid_molmo_sam2/images/episode_35835/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.539, 0.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.547]). The trajectory involves 149 precise waypoints with total movement distance of 0.293." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35835", "trajectory_length": 149, "key_frame_indices": [ 0, 119, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35835.json" } }, { "id": "droid_molmo_sam2_episode_32423", "task": "Place the darker pink cloth on the right corner of the table, and position the tomato plush toy in the opposite corner. Now, put the lighter pink cloth on the left corner and place the towel in the opposite corner. Finish by situating the rope at the center of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32423/0000.jpg", "droid_molmo_sam2/images/episode_32423/0462.jpg", "droid_molmo_sam2/images/episode_32423/0950.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the darker pink cloth on the right corner of the table, and position the tomato plush toy in the opposite corner. Now, put the lighter pink cloth on the left corner and place the towel in the opposite corner. Finish by situating the rope at the center of the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the darker pink cloth on the right corner of the table, and position the tomato plush toy in the opposite corner. Now, put the lighter pink cloth on the left corner and place the towel in the opposite corner. Finish by situating the rope at the center of the table, execute the following phases: 1) Initial approach phase (start at [0.434, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.243, 0.746]). The trajectory involves 951 precise waypoints with total movement distance of 2.429." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32423", "trajectory_length": 951, "key_frame_indices": [ 0, 462, 950 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32423.json" } }, { "id": "droid_molmo_sam2_episode_34740", "task": "Put the yellow sharpie in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34740/0000.jpg", "droid_molmo_sam2/images/episode_34740/0230.jpg", "droid_molmo_sam2/images/episode_34740/0385.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow sharpie in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow sharpie in the cup, execute the following phases: 1) Initial approach phase (start at [0.603, 0.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.696]). The trajectory involves 386 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34740", "trajectory_length": 386, "key_frame_indices": [ 0, 230, 385 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34740.json" } }, { "id": "droid_molmo_sam2_episode_30891", "task": "Put the orange packets in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30891/0000.jpg", "droid_molmo_sam2/images/episode_30891/0560.jpg", "droid_molmo_sam2/images/episode_30891/0593.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange packets in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange packets in the box, execute the following phases: 1) Initial approach phase (start at [0.367, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.668]). The trajectory involves 594 precise waypoints with total movement distance of 0.944." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30891", "trajectory_length": 594, "key_frame_indices": [ 0, 560, 593 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30891.json" } }, { "id": "droid_molmo_sam2_episode_36070", "task": "Move the white toy to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36070/0000.jpg", "droid_molmo_sam2/images/episode_36070/0138.jpg", "droid_molmo_sam2/images/episode_36070/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white toy to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white toy to the right, execute the following phases: 1) Initial approach phase (start at [0.557, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.472]). The trajectory involves 157 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36070", "trajectory_length": 157, "key_frame_indices": [ 0, 138, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36070.json" } }, { "id": "droid_molmo_sam2_episode_4656", "task": "Move the grey sweatshirt to the top of the dresser", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4656/0000.jpg", "droid_molmo_sam2/images/episode_4656/0134.jpg", "droid_molmo_sam2/images/episode_4656/0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey sweatshirt to the top of the dresser?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey sweatshirt to the top of the dresser, execute the following phases: 1) Initial approach phase (start at [0.471, 0.846]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.678, 0.691]). The trajectory involves 184 precise waypoints with total movement distance of 0.919." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4656", "trajectory_length": 184, "key_frame_indices": [ 0, 134, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4656.json" } }, { "id": "droid_molmo_sam2_episode_32469", "task": "Take the silver spoon out of the sink and put it on the dishrack.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32469/0000.jpg", "droid_molmo_sam2/images/episode_32469/0374.jpg", "droid_molmo_sam2/images/episode_32469/0490.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the silver spoon out of the sink and put it on the dishrack.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the silver spoon out of the sink and put it on the dishrack., execute the following phases: 1) Initial approach phase (start at [0.538, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.702]). The trajectory involves 491 precise waypoints with total movement distance of 0.837." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32469", "trajectory_length": 491, "key_frame_indices": [ 0, 374, 490 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32469.json" } }, { "id": "droid_molmo_sam2_episode_2273", "task": "Move a green object backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2273/0000.jpg", "droid_molmo_sam2/images/episode_2273/0084.jpg", "droid_molmo_sam2/images/episode_2273/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move a green object backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move a green object backwards, execute the following phases: 1) Initial approach phase (start at [0.375, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.406]). The trajectory involves 126 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2273", "trajectory_length": 126, "key_frame_indices": [ 0, 84, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2273.json" } }, { "id": "droid_molmo_sam2_episode_34397", "task": "Put the orange ring on the wooden stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34397/0000.jpg", "droid_molmo_sam2/images/episode_34397/0121.jpg", "droid_molmo_sam2/images/episode_34397/0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange ring on the wooden stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange ring on the wooden stand, execute the following phases: 1) Initial approach phase (start at [0.681, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.751]). The trajectory involves 276 precise waypoints with total movement distance of 0.515." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34397", "trajectory_length": 276, "key_frame_indices": [ 0, 121, 275 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34397.json" } }, { "id": "droid_molmo_sam2_episode_3318", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3318/0000.jpg", "droid_molmo_sam2/images/episode_3318/0069.jpg", "droid_molmo_sam2/images/episode_3318/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.621, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 100 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3318", "trajectory_length": 100, "key_frame_indices": [ 0, 69, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3318.json" } }, { "id": "droid_molmo_sam2_episode_3791", "task": "Fold the grey towel on the table in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3791/0000.jpg", "droid_molmo_sam2/images/episode_3791/0308.jpg", "droid_molmo_sam2/images/episode_3791/0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the grey towel on the table in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the grey towel on the table in half, execute the following phases: 1) Initial approach phase (start at [0.628, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.691]). The trajectory involves 385 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3791", "trajectory_length": 385, "key_frame_indices": [ 0, 308, 384 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3791.json" } }, { "id": "droid_molmo_sam2_episode_6669", "task": "Move the bottle to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6669/0000.jpg", "droid_molmo_sam2/images/episode_6669/0157.jpg", "droid_molmo_sam2/images/episode_6669/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.344, 0.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.495]). The trajectory involves 164 precise waypoints with total movement distance of 1.032." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6669", "trajectory_length": 164, "key_frame_indices": [ 0, 157, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6669.json" } }, { "id": "droid_molmo_sam2_episode_30034", "task": "Take the top off the bottle on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30034/0000.jpg", "droid_molmo_sam2/images/episode_30034/0123.jpg", "droid_molmo_sam2/images/episode_30034/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the top off the bottle on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the top off the bottle on the table, execute the following phases: 1) Initial approach phase (start at [0.525, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.582]). The trajectory involves 150 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30034", "trajectory_length": 150, "key_frame_indices": [ 0, 123, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30034.json" } }, { "id": "droid_molmo_sam2_episode_37108", "task": "Move the bowl to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37108/0000.jpg", "droid_molmo_sam2/images/episode_37108/0099.jpg", "droid_molmo_sam2/images/episode_37108/0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.450, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.645]). The trajectory involves 165 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37108", "trajectory_length": 165, "key_frame_indices": [ 0, 99, 164 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37108.json" } }, { "id": "droid_molmo_sam2_episode_37007", "task": "Move the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37007/0000.jpg", "droid_molmo_sam2/images/episode_37007/0095.jpg", "droid_molmo_sam2/images/episode_37007/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup, execute the following phases: 1) Initial approach phase (start at [0.887, 0.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.652, 0.442]). The trajectory involves 166 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37007", "trajectory_length": 166, "key_frame_indices": [ 0, 95, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37007.json" } }, { "id": "droid_molmo_sam2_episode_6700", "task": "Take the Rubik's cube out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6700/0000.jpg", "droid_molmo_sam2/images/episode_6700/0241.jpg", "droid_molmo_sam2/images/episode_6700/0322.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?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the Rubik's cube out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.513]). The trajectory involves 323 precise waypoints with total movement distance of 0.924." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6700", "trajectory_length": 323, "key_frame_indices": [ 0, 241, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6700.json" } }, { "id": "droid_molmo_sam2_episode_39670", "task": "Put the yellow object into the blue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39670/0000.jpg", "droid_molmo_sam2/images/episode_39670/0036.jpg", "droid_molmo_sam2/images/episode_39670/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow object into the blue box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow object into the blue box, 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 [0.696, 0.741]). The trajectory involves 225 precise waypoints with total movement distance of 1.340." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39670", "trajectory_length": 225, "key_frame_indices": [ 0, 36, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39670.json" } }, { "id": "droid_molmo_sam2_episode_31165", "task": "Place the two t-shirts and two towels inside the brown box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31165/0000.jpg", "droid_molmo_sam2/images/episode_31165/0144.jpg", "droid_molmo_sam2/images/episode_31165/0581.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the two t-shirts and two towels inside the brown box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the two t-shirts and two towels inside the brown box, execute the following phases: 1) Initial approach phase (start at [0.507, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 582 precise waypoints with total movement distance of 2.691." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31165", "trajectory_length": 582, "key_frame_indices": [ 0, 144, 581 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31165.json" } }, { "id": "droid_molmo_sam2_episode_649", "task": "Remove the black t-shirt from the backrest of the grey chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_649/0000.jpg", "droid_molmo_sam2/images/episode_649/0136.jpg", "droid_molmo_sam2/images/episode_649/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black t-shirt from the backrest of the grey chair?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black t-shirt from the backrest of the grey chair, execute the following phases: 1) Initial approach phase (start at [0.783, 0.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.644]). The trajectory involves 171 precise waypoints with total movement distance of 1.438." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_649", "trajectory_length": 171, "key_frame_indices": [ 0, 136, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_649.json" } }, { "id": "droid_molmo_sam2_episode_37981", "task": "Flip the green cloth over", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37981/0000.jpg", "droid_molmo_sam2/images/episode_37981/0163.jpg", "droid_molmo_sam2/images/episode_37981/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the green cloth over?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the green cloth over, execute the following phases: 1) Initial approach phase (start at [0.506, 0.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.493]). The trajectory involves 199 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37981", "trajectory_length": 199, "key_frame_indices": [ 0, 163, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37981.json" } }, { "id": "droid_molmo_sam2_episode_33876", "task": "Pour the fries out of the orange cup and onto the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33876/0000.jpg", "droid_molmo_sam2/images/episode_33876/0243.jpg", "droid_molmo_sam2/images/episode_33876/0330.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the fries out of the orange cup and onto the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the fries out of the orange cup and onto the plate, execute the following phases: 1) Initial approach phase (start at [0.791, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.804, 0.401]). The trajectory involves 331 precise waypoints with total movement distance of 3.407." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33876", "trajectory_length": 331, "key_frame_indices": [ 0, 243, 330 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33876.json" } }, { "id": "droid_molmo_sam2_episode_7062", "task": "Switch off the light", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7062/0000.jpg", "droid_molmo_sam2/images/episode_7062/0075.jpg", "droid_molmo_sam2/images/episode_7062/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Switch off the light?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Switch off the light, execute the following phases: 1) Initial approach phase (start at [0.588, 0.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 156 precise waypoints with total movement distance of 1.920." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7062", "trajectory_length": 156, "key_frame_indices": [ 0, 75, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7062.json" } }, { "id": "droid_molmo_sam2_episode_32411", "task": "Fold the cloth in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32411/0000.jpg", "droid_molmo_sam2/images/episode_32411/0816.jpg", "droid_molmo_sam2/images/episode_32411/1234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth in half, execute the following phases: 1) Initial approach phase (start at [0.441, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.616]). The trajectory involves 1235 precise waypoints with total movement distance of 2.897." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32411", "trajectory_length": 1235, "key_frame_indices": [ 0, 816, 1234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32411.json" } }, { "id": "droid_molmo_sam2_episode_31956", "task": "Move the yellow cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31956/0000.jpg", "droid_molmo_sam2/images/episode_31956/0094.jpg", "droid_molmo_sam2/images/episode_31956/0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow cloth?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow cloth, execute the following phases: 1) Initial approach phase (start at [0.765, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.750, 0.632]). The trajectory involves 370 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31956", "trajectory_length": 370, "key_frame_indices": [ 0, 94, 369 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31956.json" } }, { "id": "droid_molmo_sam2_episode_38186", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38186/0000.jpg", "droid_molmo_sam2/images/episode_38186/0081.jpg", "droid_molmo_sam2/images/episode_38186/0130.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 [0.519, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.644]). The trajectory involves 131 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38186", "trajectory_length": 131, "key_frame_indices": [ 0, 81, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38186.json" } }, { "id": "droid_molmo_sam2_episode_33865", "task": "Put the green marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33865/0000.jpg", "droid_molmo_sam2/images/episode_33865/0212.jpg", "droid_molmo_sam2/images/episode_33865/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.765, 0.887]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.340]). The trajectory involves 258 precise waypoints with total movement distance of 1.402." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33865", "trajectory_length": 258, "key_frame_indices": [ 0, 212, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33865.json" } }, { "id": "droid_molmo_sam2_episode_4083", "task": "Open the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4083/0000.jpg", "droid_molmo_sam2/images/episode_4083/0095.jpg", "droid_molmo_sam2/images/episode_4083/0096.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 [0.270, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.279, 0.647]). The trajectory involves 97 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4083", "trajectory_length": 97, "key_frame_indices": [ 0, 95, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4083.json" } }, { "id": "droid_molmo_sam2_episode_2504", "task": "Take the lid off of the plastic container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2504/0000.jpg", "droid_molmo_sam2/images/episode_2504/0107.jpg", "droid_molmo_sam2/images/episode_2504/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off of the plastic container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid off of the plastic container, execute the following phases: 1) Initial approach phase (start at [0.452, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.854]). The trajectory involves 164 precise waypoints with total movement distance of 0.631." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2504", "trajectory_length": 164, "key_frame_indices": [ 0, 107, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2504.json" } }, { "id": "droid_molmo_sam2_episode_492", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_492/0000.jpg", "droid_molmo_sam2/images/episode_492/0045.jpg", "droid_molmo_sam2/images/episode_492/0084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.418, 0.686]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.542]). The trajectory involves 85 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_492", "trajectory_length": 85, "key_frame_indices": [ 0, 45, 84 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_492.json" } }, { "id": "droid_molmo_sam2_episode_33718", "task": "Move the coffee cup to the left side of the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33718/0000.jpg", "droid_molmo_sam2/images/episode_33718/0079.jpg", "droid_molmo_sam2/images/episode_33718/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the coffee cup to the left side of the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the coffee cup to the left side of the counter, execute the following phases: 1) Initial approach phase (start at [0.562, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.741]). The trajectory involves 101 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33718", "trajectory_length": 101, "key_frame_indices": [ 0, 79, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33718.json" } }, { "id": "droid_molmo_sam2_episode_37055", "task": "Take the clear lid and put it on the left black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37055/0000.jpg", "droid_molmo_sam2/images/episode_37055/0184.jpg", "droid_molmo_sam2/images/episode_37055/0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the clear lid and put it on the left black pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the clear lid and put it on the left black pot, execute the following phases: 1) Initial approach phase (start at [0.434, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.496]). The trajectory involves 285 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37055", "trajectory_length": 285, "key_frame_indices": [ 0, 184, 284 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37055.json" } }, { "id": "droid_molmo_sam2_episode_7191", "task": "Put the yellow pepper inside the orange bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7191/0000.jpg", "droid_molmo_sam2/images/episode_7191/0092.jpg", "droid_molmo_sam2/images/episode_7191/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow pepper inside the orange bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow pepper inside the orange bowl, execute the following phases: 1) Initial approach phase (start at [0.663, 0.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.625]). The trajectory involves 137 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7191", "trajectory_length": 137, "key_frame_indices": [ 0, 92, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7191.json" } }, { "id": "droid_molmo_sam2_episode_6882", "task": "Pick up the white spoon and put the contents on the spoon into the coffee cup on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6882/0000.jpg", "droid_molmo_sam2/images/episode_6882/0259.jpg", "droid_molmo_sam2/images/episode_6882/0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white spoon and put the contents on the spoon into the coffee cup on the left.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white spoon and put the contents on the spoon into the coffee cup on the left., execute the following phases: 1) Initial approach phase (start at [0.471, 0.929]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.924]). The trajectory involves 411 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6882", "trajectory_length": 411, "key_frame_indices": [ 0, 259, 410 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6882.json" } }, { "id": "droid_molmo_sam2_episode_6362", "task": "Place the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6362/0000.jpg", "droid_molmo_sam2/images/episode_6362/0058.jpg", "droid_molmo_sam2/images/episode_6362/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.443, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.546]). The trajectory involves 104 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6362", "trajectory_length": 104, "key_frame_indices": [ 0, 58, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6362.json" } }, { "id": "droid_molmo_sam2_episode_3574", "task": "Pick the lid on the counter and place it on the food processor", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3574/0000.jpg", "droid_molmo_sam2/images/episode_3574/0099.jpg", "droid_molmo_sam2/images/episode_3574/0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the lid on the counter and place it on the food processor?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the lid on the counter and place it on the food processor, execute the following phases: 1) Initial approach phase (start at [0.729, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.528]). The trajectory involves 200 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3574", "trajectory_length": 200, "key_frame_indices": [ 0, 99, 199 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3574.json" } }, { "id": "droid_molmo_sam2_episode_6322", "task": "Put the shaker in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6322/0000.jpg", "droid_molmo_sam2/images/episode_6322/0049.jpg", "droid_molmo_sam2/images/episode_6322/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the shaker in the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the shaker in the pot, execute the following phases: 1) Initial approach phase (start at [0.534, 0.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.285]). The trajectory involves 116 precise waypoints with total movement distance of 1.206." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6322", "trajectory_length": 116, "key_frame_indices": [ 0, 49, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6322.json" } }, { "id": "droid_molmo_sam2_episode_37564", "task": "Move the nozzle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37564/0000.jpg", "droid_molmo_sam2/images/episode_37564/0338.jpg", "droid_molmo_sam2/images/episode_37564/0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the nozzle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.399, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.748]). The trajectory involves 411 precise waypoints with total movement distance of 1.119." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37564", "trajectory_length": 411, "key_frame_indices": [ 0, 338, 410 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37564.json" } }, { "id": "droid_molmo_sam2_episode_6464", "task": "Pile up all the objects on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6464/0000.jpg", "droid_molmo_sam2/images/episode_6464/0171.jpg", "droid_molmo_sam2/images/episode_6464/0709.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pile up all the objects on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pile up all the objects on the table., execute the following phases: 1) Initial approach phase (start at [0.524, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.842]). The trajectory involves 710 precise waypoints with total movement distance of 2.197." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6464", "trajectory_length": 710, "key_frame_indices": [ 0, 171, 709 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6464.json" } }, { "id": "droid_molmo_sam2_episode_3139", "task": "Move the blue plastic bag and place it near the trash can", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3139/0000.jpg", "droid_molmo_sam2/images/episode_3139/0248.jpg", "droid_molmo_sam2/images/episode_3139/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue plastic bag and place it near the trash can?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue plastic bag and place it near the trash can, execute the following phases: 1) Initial approach phase (start at [0.907, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 0.512]). The trajectory involves 250 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3139", "trajectory_length": 250, "key_frame_indices": [ 0, 248, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3139.json" } }, { "id": "droid_molmo_sam2_episode_1475", "task": "Move the basketball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1475/0000.jpg", "droid_molmo_sam2/images/episode_1475/0117.jpg", "droid_molmo_sam2/images/episode_1475/0158.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 [0.459, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.621]). The trajectory involves 159 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1475", "trajectory_length": 159, "key_frame_indices": [ 0, 117, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1475.json" } }, { "id": "droid_molmo_sam2_episode_38503", "task": "Hang the electric cord off the edge of the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38503/0000.jpg", "droid_molmo_sam2/images/episode_38503/0104.jpg", "droid_molmo_sam2/images/episode_38503/0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the electric cord off the edge of the bed?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the electric cord off the edge of the bed, execute the following phases: 1) Initial approach phase (start at [0.641, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.779]). The trajectory involves 231 precise waypoints with total movement distance of 1.598." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38503", "trajectory_length": 231, "key_frame_indices": [ 0, 104, 230 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38503.json" } }, { "id": "droid_molmo_sam2_episode_2656", "task": "Turn the second knob from the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2656/0000.jpg", "droid_molmo_sam2/images/episode_2656/0206.jpg", "droid_molmo_sam2/images/episode_2656/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the second knob from the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the second knob from the right, execute the following phases: 1) Initial approach phase (start at [0.503, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.513]). The trajectory involves 218 precise waypoints with total movement distance of 1.779." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2656", "trajectory_length": 218, "key_frame_indices": [ 0, 206, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2656.json" } }, { "id": "droid_molmo_sam2_episode_6545", "task": "Close the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6545/0000.jpg", "droid_molmo_sam2/images/episode_6545/0158.jpg", "droid_molmo_sam2/images/episode_6545/0184.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 [0.344, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.721]). The trajectory involves 185 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6545", "trajectory_length": 185, "key_frame_indices": [ 0, 158, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6545.json" } }, { "id": "droid_molmo_sam2_episode_689", "task": "Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_689/0000.jpg", "droid_molmo_sam2/images/episode_689/0310.jpg", "droid_molmo_sam2/images/episode_689/0344.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_molmo_sam2 manipulation: Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.694, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.689]). The trajectory involves 345 precise waypoints with total movement distance of 0.837." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_689", "trajectory_length": 345, "key_frame_indices": [ 0, 310, 344 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_689.json" } }, { "id": "droid_molmo_sam2_episode_34282", "task": "Remove the t-shirt from the laundry basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34282/0000.jpg", "droid_molmo_sam2/images/episode_34282/0057.jpg", "droid_molmo_sam2/images/episode_34282/0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the t-shirt from the laundry basket?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the t-shirt from the laundry basket, execute the following phases: 1) Initial approach phase (start at [0.346, 0.968]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.967]). The trajectory involves 204 precise waypoints with total movement distance of 3.021." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34282", "trajectory_length": 204, "key_frame_indices": [ 0, 57, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34282.json" } }, { "id": "droid_molmo_sam2_episode_30799", "task": "Remove the box from the cupboard to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30799/0000.jpg", "droid_molmo_sam2/images/episode_30799/0190.jpg", "droid_molmo_sam2/images/episode_30799/0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the box from the cupboard to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the box from the cupboard to the right, execute the following phases: 1) Initial approach phase (start at [0.580, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.814]). The trajectory involves 245 precise waypoints with total movement distance of 0.682." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30799", "trajectory_length": 245, "key_frame_indices": [ 0, 190, 244 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30799.json" } }, { "id": "droid_molmo_sam2_episode_33690", "task": "Wipe the table with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33690/0000.jpg", "droid_molmo_sam2/images/episode_33690/0269.jpg", "droid_molmo_sam2/images/episode_33690/0472.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the cloth, execute the following phases: 1) Initial approach phase (start at [0.575, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.517]). The trajectory involves 473 precise waypoints with total movement distance of 3.786." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33690", "trajectory_length": 473, "key_frame_indices": [ 0, 269, 472 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33690.json" } }, { "id": "droid_molmo_sam2_episode_7250", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7250/0000.jpg", "droid_molmo_sam2/images/episode_7250/0080.jpg", "droid_molmo_sam2/images/episode_7250/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.688, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.675]). The trajectory involves 271 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7250", "trajectory_length": 271, "key_frame_indices": [ 0, 80, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7250.json" } }, { "id": "droid_molmo_sam2_episode_3393", "task": "Close the open drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3393/0000.jpg", "droid_molmo_sam2/images/episode_3393/0141.jpg", "droid_molmo_sam2/images/episode_3393/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer, execute the following phases: 1) Initial approach phase (start at [0.559, 0.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.262]). The trajectory involves 166 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3393", "trajectory_length": 166, "key_frame_indices": [ 0, 141, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3393.json" } }, { "id": "droid_molmo_sam2_episode_3151", "task": "Put the remote on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3151/0000.jpg", "droid_molmo_sam2/images/episode_3151/0392.jpg", "droid_molmo_sam2/images/episode_3151/0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the remote on the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the remote on the chair, execute the following phases: 1) Initial approach phase (start at [0.425, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.503]). The trajectory involves 411 precise waypoints with total movement distance of 1.479." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3151", "trajectory_length": 411, "key_frame_indices": [ 0, 392, 410 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3151.json" } }, { "id": "droid_molmo_sam2_episode_39446", "task": "Move the black basket to the right side of the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39446/0000.jpg", "droid_molmo_sam2/images/episode_39446/0099.jpg", "droid_molmo_sam2/images/episode_39446/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black basket to the right side of the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black basket to the right side of the countertop, execute the following phases: 1) Initial approach phase (start at [0.438, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.569]). The trajectory involves 162 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39446", "trajectory_length": 162, "key_frame_indices": [ 0, 99, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39446.json" } }, { "id": "droid_molmo_sam2_episode_6034", "task": "Put the knife into the drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6034/0000.jpg", "droid_molmo_sam2/images/episode_6034/0392.jpg", "droid_molmo_sam2/images/episode_6034/0573.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the knife into the drawer.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the knife into the drawer., execute the following phases: 1) Initial approach phase (start at [0.977, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.977, 0.551]). The trajectory involves 574 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6034", "trajectory_length": 574, "key_frame_indices": [ 0, 392, 573 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6034.json" } }, { "id": "droid_molmo_sam2_episode_7060", "task": "Move the white mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7060/0000.jpg", "droid_molmo_sam2/images/episode_7060/0100.jpg", "droid_molmo_sam2/images/episode_7060/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the left, execute the following phases: 1) Initial approach phase (start at [0.564, 0.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.201]). The trajectory involves 158 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7060", "trajectory_length": 158, "key_frame_indices": [ 0, 100, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7060.json" } }, { "id": "droid_molmo_sam2_episode_3486", "task": "Move the faucet of the sink slightly to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3486/0000.jpg", "droid_molmo_sam2/images/episode_3486/0083.jpg", "droid_molmo_sam2/images/episode_3486/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet of the sink slightly to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet of the sink slightly to the right., execute the following phases: 1) Initial approach phase (start at [0.625, 0.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.463]). The trajectory involves 103 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3486", "trajectory_length": 103, "key_frame_indices": [ 0, 83, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3486.json" } }, { "id": "droid_molmo_sam2_episode_37241", "task": "Use the towel to clean the whiteboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37241/0000.jpg", "droid_molmo_sam2/images/episode_37241/0504.jpg", "droid_molmo_sam2/images/episode_37241/0919.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to clean the whiteboard?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to clean the whiteboard, execute the following phases: 1) Initial approach phase (start at [0.778, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.499]). The trajectory involves 920 precise waypoints with total movement distance of 2.585." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37241", "trajectory_length": 920, "key_frame_indices": [ 0, 504, 919 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37241.json" } }, { "id": "droid_molmo_sam2_episode_31761", "task": "Move the bowl towards the table edge near you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31761/0000.jpg", "droid_molmo_sam2/images/episode_31761/0067.jpg", "droid_molmo_sam2/images/episode_31761/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl towards the table edge near you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl towards the table edge near you, execute the following phases: 1) Initial approach phase (start at [0.614, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.782]). The trajectory involves 111 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31761", "trajectory_length": 111, "key_frame_indices": [ 0, 67, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31761.json" } }, { "id": "droid_molmo_sam2_episode_2387", "task": "Pull the curtain to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2387/0000.jpg", "droid_molmo_sam2/images/episode_2387/0172.jpg", "droid_molmo_sam2/images/episode_2387/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the curtain to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the curtain to the right, execute the following phases: 1) Initial approach phase (start at [0.576, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.473]). The trajectory involves 194 precise waypoints with total movement distance of 0.895." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2387", "trajectory_length": 194, "key_frame_indices": [ 0, 172, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2387.json" } }, { "id": "droid_molmo_sam2_episode_939", "task": "Put the yellow block into the blue cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_939/0000.jpg", "droid_molmo_sam2/images/episode_939/0056.jpg", "droid_molmo_sam2/images/episode_939/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block into the blue cup.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block into the blue cup., execute the following phases: 1) Initial approach phase (start at [0.476, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.428]). The trajectory involves 129 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_939", "trajectory_length": 129, "key_frame_indices": [ 0, 56, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_939.json" } }, { "id": "droid_molmo_sam2_episode_1578", "task": "Move the cup backward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1578/0000.jpg", "droid_molmo_sam2/images/episode_1578/0109.jpg", "droid_molmo_sam2/images/episode_1578/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backward, execute the following phases: 1) Initial approach phase (start at [0.638, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.497]). The trajectory involves 152 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1578", "trajectory_length": 152, "key_frame_indices": [ 0, 109, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1578.json" } }, { "id": "droid_molmo_sam2_episode_33475", "task": "Use the napkin to wipe the surface", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33475/0000.jpg", "droid_molmo_sam2/images/episode_33475/0115.jpg", "droid_molmo_sam2/images/episode_33475/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the napkin to wipe the surface?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the napkin to wipe the surface, execute the following phases: 1) Initial approach phase (start at [0.526, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.857]). The trajectory involves 283 precise waypoints with total movement distance of 2.234." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33475", "trajectory_length": 283, "key_frame_indices": [ 0, 115, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33475.json" } }, { "id": "droid_molmo_sam2_episode_33075", "task": "Put the purple grapes inside the white basin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33075/0000.jpg", "droid_molmo_sam2/images/episode_33075/0128.jpg", "droid_molmo_sam2/images/episode_33075/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple grapes inside the white basin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple grapes inside the white basin, execute the following phases: 1) Initial approach phase (start at [0.516, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.466]). The trajectory involves 138 precise waypoints with total movement distance of 0.740." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33075", "trajectory_length": 138, "key_frame_indices": [ 0, 128, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33075.json" } }, { "id": "droid_molmo_sam2_episode_36441", "task": "Pick up the purple toy and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36441/0000.jpg", "droid_molmo_sam2/images/episode_36441/0103.jpg", "droid_molmo_sam2/images/episode_36441/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the purple toy and move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the purple toy and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.482, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.442]). The trajectory involves 160 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36441", "trajectory_length": 160, "key_frame_indices": [ 0, 103, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36441.json" } }, { "id": "droid_molmo_sam2_episode_3711", "task": "Move the bread to the top left corner of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3711/0000.jpg", "droid_molmo_sam2/images/episode_3711/0068.jpg", "droid_molmo_sam2/images/episode_3711/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bread to the top left corner of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bread to the top left corner of the table, execute the following phases: 1) Initial approach phase (start at [0.513, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.344]). The trajectory involves 105 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3711", "trajectory_length": 105, "key_frame_indices": [ 0, 68, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3711.json" } }, { "id": "droid_molmo_sam2_episode_39355", "task": "Move the basket to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39355/0000.jpg", "droid_molmo_sam2/images/episode_39355/0109.jpg", "droid_molmo_sam2/images/episode_39355/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the basket to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the basket to the left, execute the following phases: 1) Initial approach phase (start at [0.292, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.158, 0.866]). The trajectory involves 158 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39355", "trajectory_length": 158, "key_frame_indices": [ 0, 109, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39355.json" } }, { "id": "droid_molmo_sam2_episode_35986", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35986/0000.jpg", "droid_molmo_sam2/images/episode_35986/0091.jpg", "droid_molmo_sam2/images/episode_35986/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.431, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.697]). The trajectory involves 230 precise waypoints with total movement distance of 0.747." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35986", "trajectory_length": 230, "key_frame_indices": [ 0, 91, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35986.json" } }, { "id": "droid_molmo_sam2_episode_6017", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6017/0000.jpg", "droid_molmo_sam2/images/episode_6017/0109.jpg", "droid_molmo_sam2/images/episode_6017/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.611, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.540]). The trajectory involves 168 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6017", "trajectory_length": 168, "key_frame_indices": [ 0, 109, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6017.json" } }, { "id": "droid_molmo_sam2_episode_3136", "task": "Put the rubber band on the jar.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3136/0000.jpg", "droid_molmo_sam2/images/episode_3136/0123.jpg", "droid_molmo_sam2/images/episode_3136/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band on the jar.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rubber band on the jar., execute the following phases: 1) Initial approach phase (start at [0.558, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.566]). The trajectory involves 153 precise waypoints with total movement distance of 0.092." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3136", "trajectory_length": 153, "key_frame_indices": [ 0, 123, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3136.json" } }, { "id": "droid_molmo_sam2_episode_1295", "task": "Pick up the snack from the sink and place it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1295/0000.jpg", "droid_molmo_sam2/images/episode_1295/0139.jpg", "droid_molmo_sam2/images/episode_1295/0219.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 [0.513, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.795]). The trajectory involves 220 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1295", "trajectory_length": 220, "key_frame_indices": [ 0, 139, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1295.json" } }, { "id": "droid_molmo_sam2_episode_31521", "task": "Remove the lid from the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31521/0000.jpg", "droid_molmo_sam2/images/episode_31521/0074.jpg", "droid_molmo_sam2/images/episode_31521/0105.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 [0.645, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.426, 0.590]). The trajectory involves 106 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31521", "trajectory_length": 106, "key_frame_indices": [ 0, 74, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31521.json" } }, { "id": "droid_molmo_sam2_episode_4514", "task": "Put the orange object into the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4514/0000.jpg", "droid_molmo_sam2/images/episode_4514/0047.jpg", "droid_molmo_sam2/images/episode_4514/0083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object into the black bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object into the black bowl., execute the following phases: 1) Initial approach phase (start at [0.675, 0.735]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.738]). The trajectory involves 84 precise waypoints with total movement distance of 0.046." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4514", "trajectory_length": 84, "key_frame_indices": [ 0, 47, 83 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4514.json" } }, { "id": "droid_molmo_sam2_episode_39299", "task": "Put the glass lid on the pot.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39299/0000.jpg", "droid_molmo_sam2/images/episode_39299/0178.jpg", "droid_molmo_sam2/images/episode_39299/0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on the pot.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glass lid on the pot., execute the following phases: 1) Initial approach phase (start at [0.346, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.599]). The trajectory involves 231 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39299", "trajectory_length": 231, "key_frame_indices": [ 0, 178, 230 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39299.json" } }, { "id": "droid_molmo_sam2_episode_36596", "task": "Take the marker out of the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36596/0000.jpg", "droid_molmo_sam2/images/episode_36596/0165.jpg", "droid_molmo_sam2/images/episode_36596/0245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.608, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.501]). The trajectory involves 246 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36596", "trajectory_length": 246, "key_frame_indices": [ 0, 165, 245 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36596.json" } }, { "id": "droid_molmo_sam2_episode_32864", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32864/0000.jpg", "droid_molmo_sam2/images/episode_32864/0161.jpg", "droid_molmo_sam2/images/episode_32864/0275.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 [0.604, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.757, 0.633]). The trajectory involves 276 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32864", "trajectory_length": 276, "key_frame_indices": [ 0, 161, 275 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32864.json" } }, { "id": "droid_molmo_sam2_episode_31967", "task": "Put the grey cap on top of the pile of caps on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31967/0000.jpg", "droid_molmo_sam2/images/episode_31967/0208.jpg", "droid_molmo_sam2/images/episode_31967/0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey cap on top of the pile of caps on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the grey cap on top of the pile of caps on the right, execute the following phases: 1) Initial approach phase (start at [0.496, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.257]). The trajectory involves 245 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31967", "trajectory_length": 245, "key_frame_indices": [ 0, 208, 244 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31967.json" } }, { "id": "droid_molmo_sam2_episode_38045", "task": "Move the light red object to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38045/0000.jpg", "droid_molmo_sam2/images/episode_38045/0216.jpg", "droid_molmo_sam2/images/episode_38045/0376.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the light red object to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the light red object to the right, execute the following phases: 1) Initial approach phase (start at [0.635, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.688, 0.651]). The trajectory involves 377 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38045", "trajectory_length": 377, "key_frame_indices": [ 0, 216, 376 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38045.json" } }, { "id": "droid_molmo_sam2_episode_30869", "task": "Put the red object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30869/0000.jpg", "droid_molmo_sam2/images/episode_30869/0095.jpg", "droid_molmo_sam2/images/episode_30869/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.647, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.934]). The trajectory involves 104 precise waypoints with total movement distance of 0.677." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30869", "trajectory_length": 104, "key_frame_indices": [ 0, 95, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30869.json" } }, { "id": "droid_molmo_sam2_episode_38731", "task": "Use the towel to wipe on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38731/0000.jpg", "droid_molmo_sam2/images/episode_38731/0100.jpg", "droid_molmo_sam2/images/episode_38731/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe on the table, execute the following phases: 1) Initial approach phase (start at [0.650, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.511]). The trajectory involves 214 precise waypoints with total movement distance of 0.644." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38731", "trajectory_length": 214, "key_frame_indices": [ 0, 100, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38731.json" } }, { "id": "droid_molmo_sam2_episode_3515", "task": "Take the pen out of the glass and set it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3515/0000.jpg", "droid_molmo_sam2/images/episode_3515/0270.jpg", "droid_molmo_sam2/images/episode_3515/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the glass and set it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the glass and set it on the table, execute the following phases: 1) Initial approach phase (start at [0.538, 0.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.426]). The trajectory involves 323 precise waypoints with total movement distance of 0.950." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3515", "trajectory_length": 323, "key_frame_indices": [ 0, 270, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3515.json" } }, { "id": "droid_molmo_sam2_episode_36572", "task": "Pour the contents in the green bowl into the small pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36572/0000.jpg", "droid_molmo_sam2/images/episode_36572/0116.jpg", "droid_molmo_sam2/images/episode_36572/0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the green bowl into the small pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the green bowl into the small pot, execute the following phases: 1) Initial approach phase (start at [0.424, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.620]). The trajectory involves 281 precise waypoints with total movement distance of 1.047." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36572", "trajectory_length": 281, "key_frame_indices": [ 0, 116, 280 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36572.json" } }, { "id": "droid_molmo_sam2_episode_36158", "task": "Hang the cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36158/0000.jpg", "droid_molmo_sam2/images/episode_36158/0090.jpg", "droid_molmo_sam2/images/episode_36158/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.593, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.390]). The trajectory involves 110 precise waypoints with total movement distance of 0.780." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36158", "trajectory_length": 110, "key_frame_indices": [ 0, 90, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36158.json" } }, { "id": "droid_molmo_sam2_episode_39369", "task": "Pick up the blue cloth and put it on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39369/0000.jpg", "droid_molmo_sam2/images/episode_39369/0240.jpg", "droid_molmo_sam2/images/episode_39369/0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue cloth and put it on the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue cloth and put it on the chair, execute the following phases: 1) Initial approach phase (start at [0.563, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.780]). The trajectory involves 320 precise waypoints with total movement distance of 1.119." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39369", "trajectory_length": 320, "key_frame_indices": [ 0, 240, 319 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39369.json" } }, { "id": "droid_molmo_sam2_episode_3345", "task": "Put the white object in the drawer and close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3345/0000.jpg", "droid_molmo_sam2/images/episode_3345/0292.jpg", "droid_molmo_sam2/images/episode_3345/0375.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white object in the drawer and close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the white object in the drawer and close the drawer, execute the following phases: 1) Initial approach phase (start at [0.594, 0.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.494]). The trajectory involves 376 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3345", "trajectory_length": 376, "key_frame_indices": [ 0, 292, 375 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3345.json" } }, { "id": "droid_molmo_sam2_episode_38867", "task": "Pick up the paper from the counter and throw it in the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38867/0000.jpg", "droid_molmo_sam2/images/episode_38867/0125.jpg", "droid_molmo_sam2/images/episode_38867/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the paper from the counter and throw it in the bin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the paper from the counter and throw it in the bin, execute the following phases: 1) Initial approach phase (start at [0.550, 0.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.398]). The trajectory involves 291 precise waypoints with total movement distance of 0.486." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38867", "trajectory_length": 291, "key_frame_indices": [ 0, 125, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38867.json" } }, { "id": "droid_molmo_sam2_episode_38803", "task": "Fold the towel once on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38803/0000.jpg", "droid_molmo_sam2/images/episode_38803/0120.jpg", "droid_molmo_sam2/images/episode_38803/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel once on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel once on the table, execute the following phases: 1) Initial approach phase (start at [0.681, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.627]). The trajectory involves 266 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38803", "trajectory_length": 266, "key_frame_indices": [ 0, 120, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38803.json" } }, { "id": "droid_molmo_sam2_episode_6154", "task": "Pick up the black bowl and put it in the peach bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6154/0000.jpg", "droid_molmo_sam2/images/episode_6154/0084.jpg", "droid_molmo_sam2/images/episode_6154/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black bowl and put it in the peach bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black bowl and put it in the peach bowl, execute the following phases: 1) Initial approach phase (start at [0.364, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.445]). The trajectory involves 112 precise waypoints with total movement distance of 0.426." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6154", "trajectory_length": 112, "key_frame_indices": [ 0, 84, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6154.json" } }, { "id": "droid_molmo_sam2_episode_3763", "task": "Put the green and orange cubes in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3763/0000.jpg", "droid_molmo_sam2/images/episode_3763/0147.jpg", "droid_molmo_sam2/images/episode_3763/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green and orange cubes in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green and orange cubes in the bowl, execute the following phases: 1) Initial approach phase (start at [0.460, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 158 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3763", "trajectory_length": 158, "key_frame_indices": [ 0, 147, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3763.json" } }, { "id": "droid_molmo_sam2_episode_35194", "task": "Put the candy bar in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35194/0000.jpg", "droid_molmo_sam2/images/episode_35194/0128.jpg", "droid_molmo_sam2/images/episode_35194/0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the candy bar in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the candy bar in the sink, execute the following phases: 1) Initial approach phase (start at [0.348, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.924]). The trajectory involves 261 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35194", "trajectory_length": 261, "key_frame_indices": [ 0, 128, 260 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35194.json" } }, { "id": "droid_molmo_sam2_episode_37835", "task": "Put the blue marker inside the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37835/0000.jpg", "droid_molmo_sam2/images/episode_37835/0127.jpg", "droid_molmo_sam2/images/episode_37835/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker inside the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue marker inside the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.661, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.517]). The trajectory involves 218 precise waypoints with total movement distance of 1.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37835", "trajectory_length": 218, "key_frame_indices": [ 0, 127, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37835.json" } }, { "id": "droid_molmo_sam2_episode_32595", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32595/0000.jpg", "droid_molmo_sam2/images/episode_32595/0074.jpg", "droid_molmo_sam2/images/episode_32595/0253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.729, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.338]). The trajectory involves 254 precise waypoints with total movement distance of 1.090." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32595", "trajectory_length": 254, "key_frame_indices": [ 0, 74, 253 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32595.json" } }, { "id": "droid_molmo_sam2_episode_3645", "task": "Cover the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3645/0000.jpg", "droid_molmo_sam2/images/episode_3645/0127.jpg", "droid_molmo_sam2/images/episode_3645/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.386, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.416]). The trajectory involves 202 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3645", "trajectory_length": 202, "key_frame_indices": [ 0, 127, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3645.json" } }, { "id": "droid_molmo_sam2_episode_33151", "task": "Put the plate in the dishwasher", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33151/0000.jpg", "droid_molmo_sam2/images/episode_33151/0332.jpg", "droid_molmo_sam2/images/episode_33151/0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plate in the dishwasher?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the plate in the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.479, 0.933]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.918]). The trajectory involves 367 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33151", "trajectory_length": 367, "key_frame_indices": [ 0, 332, 366 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33151.json" } }, { "id": "droid_molmo_sam2_episode_6326", "task": "Move the denim cloth from the chair back to the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6326/0000.jpg", "droid_molmo_sam2/images/episode_6326/0054.jpg", "droid_molmo_sam2/images/episode_6326/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the denim cloth from the chair back to the seat of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the denim cloth from the chair back to the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.334, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.880]). The trajectory involves 181 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6326", "trajectory_length": 181, "key_frame_indices": [ 0, 54, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6326.json" } }, { "id": "droid_molmo_sam2_episode_4673", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4673/0000.jpg", "droid_molmo_sam2/images/episode_4673/0113.jpg", "droid_molmo_sam2/images/episode_4673/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.660, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.447]). The trajectory involves 136 precise waypoints with total movement distance of 1.132." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4673", "trajectory_length": 136, "key_frame_indices": [ 0, 113, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4673.json" } }, { "id": "droid_molmo_sam2_episode_30757", "task": "Fold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30757/0000.jpg", "droid_molmo_sam2/images/episode_30757/0327.jpg", "droid_molmo_sam2/images/episode_30757/0371.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.497, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.670]). The trajectory involves 372 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30757", "trajectory_length": 372, "key_frame_indices": [ 0, 327, 371 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30757.json" } }, { "id": "droid_molmo_sam2_episode_4531", "task": "Move the blue bottle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4531/0000.jpg", "droid_molmo_sam2/images/episode_4531/0343.jpg", "droid_molmo_sam2/images/episode_4531/0544.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 [0.690, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.666]). The trajectory involves 545 precise waypoints with total movement distance of 1.019." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4531", "trajectory_length": 545, "key_frame_indices": [ 0, 343, 544 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4531.json" } }, { "id": "droid_molmo_sam2_episode_38267", "task": "Put the green square into the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38267/0000.jpg", "droid_molmo_sam2/images/episode_38267/0183.jpg", "droid_molmo_sam2/images/episode_38267/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green square into the black bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green square into the black bowl., execute the following phases: 1) Initial approach phase (start at [0.633, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 188 precise waypoints with total movement distance of 0.624." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38267", "trajectory_length": 188, "key_frame_indices": [ 0, 183, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38267.json" } }, { "id": "droid_molmo_sam2_episode_6747", "task": "Pick up the bottle and put it in the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6747/0000.jpg", "droid_molmo_sam2/images/episode_6747/0249.jpg", "droid_molmo_sam2/images/episode_6747/0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and put it in the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and put it in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.705, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.663, 0.086]). The trajectory involves 265 precise waypoints with total movement distance of 1.565." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6747", "trajectory_length": 265, "key_frame_indices": [ 0, 249, 264 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6747.json" } }, { "id": "droid_molmo_sam2_episode_7229", "task": "Close the silver flask", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7229/0000.jpg", "droid_molmo_sam2/images/episode_7229/0128.jpg", "droid_molmo_sam2/images/episode_7229/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the silver flask?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the silver flask, execute the following phases: 1) Initial approach phase (start at [0.694, 0.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.275]). The trajectory involves 152 precise waypoints with total movement distance of 0.118." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7229", "trajectory_length": 152, "key_frame_indices": [ 0, 128, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7229.json" } }, { "id": "droid_molmo_sam2_episode_7318", "task": "Take the fruits and vegetables out of the bowls and put them on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7318/0000.jpg", "droid_molmo_sam2/images/episode_7318/0730.jpg", "droid_molmo_sam2/images/episode_7318/1069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the fruits and vegetables out of the bowls and put them on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the fruits and vegetables out of the bowls and put them on the table, execute the following phases: 1) Initial approach phase (start at [0.384, 0.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.191]). The trajectory involves 1070 precise waypoints with total movement distance of 3.686." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7318", "trajectory_length": 1070, "key_frame_indices": [ 0, 730, 1069 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7318.json" } }, { "id": "droid_molmo_sam2_episode_34770", "task": "Move the clear object to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34770/0000.jpg", "droid_molmo_sam2/images/episode_34770/0187.jpg", "droid_molmo_sam2/images/episode_34770/0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear object to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear object to the right, execute the following phases: 1) Initial approach phase (start at [0.575, 0.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.479]). The trajectory involves 217 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34770", "trajectory_length": 217, "key_frame_indices": [ 0, 187, 216 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34770.json" } }, { "id": "droid_molmo_sam2_episode_6504", "task": "Center the faucet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6504/0000.jpg", "droid_molmo_sam2/images/episode_6504/0102.jpg", "droid_molmo_sam2/images/episode_6504/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Center the faucet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Center the faucet, execute the following phases: 1) Initial approach phase (start at [0.730, 0.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.213]). The trajectory involves 136 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6504", "trajectory_length": 136, "key_frame_indices": [ 0, 102, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6504.json" } }, { "id": "droid_molmo_sam2_episode_4297", "task": "Use the tea towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4297/0000.jpg", "droid_molmo_sam2/images/episode_4297/0147.jpg", "droid_molmo_sam2/images/episode_4297/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the tea towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the tea towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.590, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.599]). The trajectory involves 250 precise waypoints with total movement distance of 4.042." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4297", "trajectory_length": 250, "key_frame_indices": [ 0, 147, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4297.json" } }, { "id": "droid_molmo_sam2_episode_31125", "task": "Pour the contents of the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31125/0000.jpg", "droid_molmo_sam2/images/episode_31125/0024.jpg", "droid_molmo_sam2/images/episode_31125/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.703, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.506]). The trajectory involves 135 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31125", "trajectory_length": 135, "key_frame_indices": [ 0, 24, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31125.json" } }, { "id": "droid_molmo_sam2_episode_6225", "task": "Fold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6225/0000.jpg", "droid_molmo_sam2/images/episode_6225/0279.jpg", "droid_molmo_sam2/images/episode_6225/0779.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.439, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.619]). The trajectory involves 780 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6225", "trajectory_length": 780, "key_frame_indices": [ 0, 279, 779 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6225.json" } }, { "id": "droid_molmo_sam2_episode_32812", "task": "Put the white string along the center of the black strip", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32812/0000.jpg", "droid_molmo_sam2/images/episode_32812/0061.jpg", "droid_molmo_sam2/images/episode_32812/0284.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white string along the center of the black strip?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white string along the center of the black strip, execute the following phases: 1) Initial approach phase (start at [0.488, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.610]). The trajectory involves 285 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32812", "trajectory_length": 285, "key_frame_indices": [ 0, 61, 284 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32812.json" } }, { "id": "droid_molmo_sam2_episode_4441", "task": "Close the overhead cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4441/0000.jpg", "droid_molmo_sam2/images/episode_4441/0157.jpg", "droid_molmo_sam2/images/episode_4441/0209.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 [0.517, 0.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 210 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4441", "trajectory_length": 210, "key_frame_indices": [ 0, 157, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4441.json" } }, { "id": "droid_molmo_sam2_episode_4310", "task": "Pull out one tissue square from the pink box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4310/0000.jpg", "droid_molmo_sam2/images/episode_4310/0187.jpg", "droid_molmo_sam2/images/episode_4310/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out one tissue square from the pink box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out one tissue square from the pink box, execute the following phases: 1) Initial approach phase (start at [0.623, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.875]). The trajectory involves 210 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4310", "trajectory_length": 210, "key_frame_indices": [ 0, 187, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4310.json" } }, { "id": "droid_molmo_sam2_episode_39873", "task": "Put the masking tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39873/0000.jpg", "droid_molmo_sam2/images/episode_39873/0132.jpg", "droid_molmo_sam2/images/episode_39873/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the masking tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the masking tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.501, 0.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.563]). The trajectory involves 168 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39873", "trajectory_length": 168, "key_frame_indices": [ 0, 132, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39873.json" } }, { "id": "droid_molmo_sam2_episode_30613", "task": "Close the top right drawer fully", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30613/0000.jpg", "droid_molmo_sam2/images/episode_30613/0310.jpg", "droid_molmo_sam2/images/episode_30613/0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top right drawer fully?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top right drawer fully, execute the following phases: 1) Initial approach phase (start at [0.597, 0.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.356]). The trajectory involves 320 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30613", "trajectory_length": 320, "key_frame_indices": [ 0, 310, 319 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30613.json" } }, { "id": "droid_molmo_sam2_episode_3116", "task": "Remove the small orange tape from the drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3116/0000.jpg", "droid_molmo_sam2/images/episode_3116/0135.jpg", "droid_molmo_sam2/images/episode_3116/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the small orange tape from the drawer.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the small orange tape from the drawer., execute the following phases: 1) Initial approach phase (start at [0.502, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.534]). The trajectory involves 213 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3116", "trajectory_length": 213, "key_frame_indices": [ 0, 135, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3116.json" } }, { "id": "droid_molmo_sam2_episode_38091", "task": "Move one cloth from the left to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38091/0000.jpg", "droid_molmo_sam2/images/episode_38091/0117.jpg", "droid_molmo_sam2/images/episode_38091/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move one cloth from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move one cloth from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.390, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.483]). The trajectory involves 214 precise waypoints with total movement distance of 1.356." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38091", "trajectory_length": 214, "key_frame_indices": [ 0, 117, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38091.json" } }, { "id": "droid_molmo_sam2_episode_30793", "task": "Press a button on the dish washing machine", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30793/0000.jpg", "droid_molmo_sam2/images/episode_30793/0332.jpg", "droid_molmo_sam2/images/episode_30793/0344.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the dish washing machine?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the dish washing machine, execute the following phases: 1) Initial approach phase (start at [0.532, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.506]). The trajectory involves 345 precise waypoints with total movement distance of 1.560." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30793", "trajectory_length": 345, "key_frame_indices": [ 0, 332, 344 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30793.json" } }, { "id": "droid_molmo_sam2_episode_609", "task": "Close the open drawer on the beige filing cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_609/0000.jpg", "droid_molmo_sam2/images/episode_609/0028.jpg", "droid_molmo_sam2/images/episode_609/0081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer on the beige filing cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer on the beige filing cabinet, execute the following phases: 1) Initial approach phase (start at [0.572, 0.861]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.597, 0.780]). The trajectory involves 82 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_609", "trajectory_length": 82, "key_frame_indices": [ 0, 28, 81 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_609.json" } }, { "id": "droid_molmo_sam2_episode_35114", "task": "Put the blue bottle and orange sponge inside the bottom cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35114/0000.jpg", "droid_molmo_sam2/images/episode_35114/0151.jpg", "droid_molmo_sam2/images/episode_35114/0486.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue bottle and orange sponge inside the bottom cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue bottle and orange sponge inside the bottom cabinet, execute the following phases: 1) Initial approach phase (start at [0.756, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 487 precise waypoints with total movement distance of 1.597." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35114", "trajectory_length": 487, "key_frame_indices": [ 0, 151, 486 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35114.json" } }, { "id": "droid_molmo_sam2_episode_6172", "task": "Stack up the cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6172/0000.jpg", "droid_molmo_sam2/images/episode_6172/0126.jpg", "droid_molmo_sam2/images/episode_6172/0453.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack up the cups?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack up the cups, execute the following phases: 1) Initial approach phase (start at [0.698, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.624]). The trajectory involves 454 precise waypoints with total movement distance of 0.984." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6172", "trajectory_length": 454, "key_frame_indices": [ 0, 126, 453 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6172.json" } }, { "id": "droid_molmo_sam2_episode_32171", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32171/0000.jpg", "droid_molmo_sam2/images/episode_32171/0188.jpg", "droid_molmo_sam2/images/episode_32171/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.481, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.585]). The trajectory involves 215 precise waypoints with total movement distance of 0.842." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32171", "trajectory_length": 215, "key_frame_indices": [ 0, 188, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32171.json" } }, { "id": "droid_molmo_sam2_episode_33809", "task": "Move the grey towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33809/0000.jpg", "droid_molmo_sam2/images/episode_33809/0116.jpg", "droid_molmo_sam2/images/episode_33809/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the right, execute the following phases: 1) Initial approach phase (start at [0.547, 0.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.586]). The trajectory involves 144 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33809", "trajectory_length": 144, "key_frame_indices": [ 0, 116, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33809.json" } }, { "id": "droid_molmo_sam2_episode_30472", "task": "Close lower drawer of the file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30472/0000.jpg", "droid_molmo_sam2/images/episode_30472/0060.jpg", "droid_molmo_sam2/images/episode_30472/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close lower drawer of the file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close lower drawer of the file cabinet, execute the following phases: 1) Initial approach phase (start at [0.562, 0.906]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.893]). The trajectory involves 124 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30472", "trajectory_length": 124, "key_frame_indices": [ 0, 60, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30472.json" } }, { "id": "droid_molmo_sam2_episode_6628", "task": "Open the cupboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6628/0000.jpg", "droid_molmo_sam2/images/episode_6628/0206.jpg", "droid_molmo_sam2/images/episode_6628/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cupboard?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cupboard, execute the following phases: 1) Initial approach phase (start at [0.505, 0.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.205]). The trajectory involves 225 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6628", "trajectory_length": 225, "key_frame_indices": [ 0, 206, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6628.json" } }, { "id": "droid_molmo_sam2_episode_31769", "task": "Fold the pink towel in half from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31769/0000.jpg", "droid_molmo_sam2/images/episode_31769/0423.jpg", "droid_molmo_sam2/images/episode_31769/0951.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the pink towel in half from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the pink towel in half from right to left, execute the following phases: 1) Initial approach phase (start at [0.503, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.625]). The trajectory involves 952 precise waypoints with total movement distance of 1.722." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31769", "trajectory_length": 952, "key_frame_indices": [ 0, 423, 951 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31769.json" } }, { "id": "droid_molmo_sam2_episode_3331", "task": "Remove the cloth from the glass and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3331/0000.jpg", "droid_molmo_sam2/images/episode_3331/0115.jpg", "droid_molmo_sam2/images/episode_3331/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cloth from the glass and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cloth from the glass and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.518, 0.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.894]). The trajectory involves 134 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3331", "trajectory_length": 134, "key_frame_indices": [ 0, 115, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3331.json" } }, { "id": "droid_molmo_sam2_episode_411", "task": "Pick up the white plate from the countertop and put it in the dishwasher", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_411/0000.jpg", "droid_molmo_sam2/images/episode_411/0326.jpg", "droid_molmo_sam2/images/episode_411/0382.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white plate from the countertop and put it in the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.394, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.537]). The trajectory involves 383 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_411", "trajectory_length": 383, "key_frame_indices": [ 0, 326, 382 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_411.json" } }, { "id": "droid_molmo_sam2_episode_37975", "task": "Drop the coat onto the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37975/0000.jpg", "droid_molmo_sam2/images/episode_37975/0136.jpg", "droid_molmo_sam2/images/episode_37975/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Drop the coat onto the seat of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Drop the coat onto the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.498, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 166 precise waypoints with total movement distance of 1.181." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37975", "trajectory_length": 166, "key_frame_indices": [ 0, 136, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37975.json" } }, { "id": "droid_molmo_sam2_episode_32965", "task": "Screw the bolt tight", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32965/0000.jpg", "droid_molmo_sam2/images/episode_32965/0156.jpg", "droid_molmo_sam2/images/episode_32965/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Screw the bolt tight?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Screw the bolt tight, execute the following phases: 1) Initial approach phase (start at [0.514, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.477, 0.506]). The trajectory involves 275 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32965", "trajectory_length": 275, "key_frame_indices": [ 0, 156, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32965.json" } }, { "id": "droid_molmo_sam2_episode_31369", "task": "Pick up the pink plate and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31369/0000.jpg", "droid_molmo_sam2/images/episode_31369/0120.jpg", "droid_molmo_sam2/images/episode_31369/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pink plate and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pink plate and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.726, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.639]). The trajectory involves 218 precise waypoints with total movement distance of 0.738." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31369", "trajectory_length": 218, "key_frame_indices": [ 0, 120, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31369.json" } }, { "id": "droid_molmo_sam2_episode_3017", "task": "Put the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3017/0000.jpg", "droid_molmo_sam2/images/episode_3017/0087.jpg", "droid_molmo_sam2/images/episode_3017/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.419, 0.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.569]). The trajectory involves 132 precise waypoints with total movement distance of 0.395." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3017", "trajectory_length": 132, "key_frame_indices": [ 0, 87, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3017.json" } }, { "id": "droid_molmo_sam2_episode_2326", "task": "Unwind the white rope", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2326/0000.jpg", "droid_molmo_sam2/images/episode_2326/0110.jpg", "droid_molmo_sam2/images/episode_2326/0385.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unwind the white rope?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unwind the white rope, execute the following phases: 1) Initial approach phase (start at [0.459, 0.727]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.673]). The trajectory involves 386 precise waypoints with total movement distance of 0.953." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2326", "trajectory_length": 386, "key_frame_indices": [ 0, 110, 385 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2326.json" } }, { "id": "droid_molmo_sam2_episode_36671", "task": "Close the bottom drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36671/0000.jpg", "droid_molmo_sam2/images/episode_36671/0031.jpg", "droid_molmo_sam2/images/episode_36671/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer, execute the following phases: 1) Initial approach phase (start at [0.566, 0.955]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.945]). The trajectory involves 121 precise waypoints with total movement distance of 0.545." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36671", "trajectory_length": 121, "key_frame_indices": [ 0, 31, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36671.json" } }, { "id": "droid_molmo_sam2_episode_38714", "task": "Put the can in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38714/0000.jpg", "droid_molmo_sam2/images/episode_38714/0189.jpg", "droid_molmo_sam2/images/episode_38714/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can in the sink, execute the following phases: 1) Initial approach phase (start at [0.294, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.830]). The trajectory involves 226 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38714", "trajectory_length": 226, "key_frame_indices": [ 0, 189, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38714.json" } }, { "id": "droid_molmo_sam2_episode_7109", "task": "Lift the lid off of the plastic bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7109/0000.jpg", "droid_molmo_sam2/images/episode_7109/0090.jpg", "droid_molmo_sam2/images/episode_7109/0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lift the lid off of the plastic bottle?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Lift the lid off of the plastic bottle, execute the following phases: 1) Initial approach phase (start at [0.583, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.401]). The trajectory involves 235 precise waypoints with total movement distance of 1.996." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7109", "trajectory_length": 235, "key_frame_indices": [ 0, 90, 234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7109.json" } }, { "id": "droid_molmo_sam2_episode_30222", "task": "Open the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30222/0000.jpg", "droid_molmo_sam2/images/episode_30222/0270.jpg", "droid_molmo_sam2/images/episode_30222/0374.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 [0.542, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.900]). The trajectory involves 375 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30222", "trajectory_length": 375, "key_frame_indices": [ 0, 270, 374 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30222.json" } }, { "id": "droid_molmo_sam2_episode_35778", "task": "Move the orange plush toy to the lower shelf in the fridge", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35778/0000.jpg", "droid_molmo_sam2/images/episode_35778/0224.jpg", "droid_molmo_sam2/images/episode_35778/0332.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange plush toy to the lower shelf in the fridge?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange plush toy to the lower shelf in the fridge, execute the following phases: 1) Initial approach phase (start at [0.377, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.763]). The trajectory involves 333 precise waypoints with total movement distance of 2.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35778", "trajectory_length": 333, "key_frame_indices": [ 0, 224, 332 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35778.json" } }, { "id": "droid_molmo_sam2_episode_2765", "task": "Move the mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2765/0000.jpg", "droid_molmo_sam2/images/episode_2765/0143.jpg", "droid_molmo_sam2/images/episode_2765/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.566, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.407]). The trajectory involves 205 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2765", "trajectory_length": 205, "key_frame_indices": [ 0, 143, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2765.json" } }, { "id": "droid_molmo_sam2_episode_2697", "task": "Put the carrot plush toy in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2697/0000.jpg", "droid_molmo_sam2/images/episode_2697/0060.jpg", "droid_molmo_sam2/images/episode_2697/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy in the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plush toy in the pot, execute the following phases: 1) Initial approach phase (start at [0.461, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.698]). The trajectory involves 168 precise waypoints with total movement distance of 1.619." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2697", "trajectory_length": 168, "key_frame_indices": [ 0, 60, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2697.json" } }, { "id": "droid_molmo_sam2_episode_31374", "task": "Put the orange block on top of the green one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31374/0000.jpg", "droid_molmo_sam2/images/episode_31374/0051.jpg", "droid_molmo_sam2/images/episode_31374/0083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on top of the green one?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on top of the green one, execute the following phases: 1) Initial approach phase (start at [0.581, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.545]). The trajectory involves 84 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31374", "trajectory_length": 84, "key_frame_indices": [ 0, 51, 83 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31374.json" } }, { "id": "droid_molmo_sam2_episode_31474", "task": "Close the door of the microwave", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31474/0000.jpg", "droid_molmo_sam2/images/episode_31474/0001.jpg", "droid_molmo_sam2/images/episode_31474/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door of the microwave?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door of the microwave, execute the following phases: 1) Initial approach phase (start at [0.565, 0.108]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.120]). The trajectory involves 194 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31474", "trajectory_length": 194, "key_frame_indices": [ 0, 1, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31474.json" } }, { "id": "droid_molmo_sam2_episode_37570", "task": "Place the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37570/0000.jpg", "droid_molmo_sam2/images/episode_37570/0248.jpg", "droid_molmo_sam2/images/episode_37570/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.370, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 253 precise waypoints with total movement distance of 1.512." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37570", "trajectory_length": 253, "key_frame_indices": [ 0, 248, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37570.json" } }, { "id": "droid_molmo_sam2_episode_38064", "task": "Pick up the seal tape and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38064/0000.jpg", "droid_molmo_sam2/images/episode_38064/0166.jpg", "droid_molmo_sam2/images/episode_38064/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the seal tape and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the seal tape and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.601, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 177 precise waypoints with total movement distance of 1.141." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38064", "trajectory_length": 177, "key_frame_indices": [ 0, 166, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38064.json" } }, { "id": "droid_molmo_sam2_episode_35639", "task": "Fold the white napkin in half.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35639/0000.jpg", "droid_molmo_sam2/images/episode_35639/0120.jpg", "droid_molmo_sam2/images/episode_35639/0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white napkin in half.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white napkin in half., execute the following phases: 1) Initial approach phase (start at [0.376, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.804]). The trajectory involves 206 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35639", "trajectory_length": 206, "key_frame_indices": [ 0, 120, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35639.json" } }, { "id": "droid_molmo_sam2_episode_2336", "task": "Take the cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2336/0000.jpg", "droid_molmo_sam2/images/episode_2336/0079.jpg", "droid_molmo_sam2/images/episode_2336/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.455, 0.392]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.639, 0.847]). The trajectory involves 99 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2336", "trajectory_length": 99, "key_frame_indices": [ 0, 79, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2336.json" } }, { "id": "droid_molmo_sam2_episode_3135", "task": "Flip the left switch on the wall", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3135/0000.jpg", "droid_molmo_sam2/images/episode_3135/0168.jpg", "droid_molmo_sam2/images/episode_3135/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the left switch on the wall?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the left switch on the wall, execute the following phases: 1) Initial approach phase (start at [0.523, 0.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.446]). The trajectory involves 185 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3135", "trajectory_length": 185, "key_frame_indices": [ 0, 168, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3135.json" } }, { "id": "droid_molmo_sam2_episode_1245", "task": "Pick the cloths and put them on the back rest of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1245/0000.jpg", "droid_molmo_sam2/images/episode_1245/0137.jpg", "droid_molmo_sam2/images/episode_1245/0335.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloths and put them on the back rest of the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cloths and put them on the back rest of the chair, execute the following phases: 1) Initial approach phase (start at [0.486, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.413]). The trajectory involves 336 precise waypoints with total movement distance of 1.375." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1245", "trajectory_length": 336, "key_frame_indices": [ 0, 137, 335 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1245.json" } }, { "id": "droid_molmo_sam2_episode_2705", "task": "Place the orange cup inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2705/0000.jpg", "droid_molmo_sam2/images/episode_2705/0049.jpg", "droid_molmo_sam2/images/episode_2705/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange cup inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange cup inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.402, 0.688]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.546]). The trajectory involves 88 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2705", "trajectory_length": 88, "key_frame_indices": [ 0, 49, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2705.json" } }, { "id": "droid_molmo_sam2_episode_1466", "task": "Put the chocolate bar on the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1466/0000.jpg", "droid_molmo_sam2/images/episode_1466/0131.jpg", "droid_molmo_sam2/images/episode_1466/0218.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_molmo_sam2 manipulation: Put the chocolate bar on the shelf, execute the following phases: 1) Initial approach phase (start at [0.289, 0.846]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.330]). The trajectory involves 219 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1466", "trajectory_length": 219, "key_frame_indices": [ 0, 131, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1466.json" } }, { "id": "droid_molmo_sam2_episode_7085", "task": "Close the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7085/0000.jpg", "droid_molmo_sam2/images/episode_7085/0262.jpg", "droid_molmo_sam2/images/episode_7085/0287.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 [0.563, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.770, 0.562]). The trajectory involves 288 precise waypoints with total movement distance of 0.791." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7085", "trajectory_length": 288, "key_frame_indices": [ 0, 262, 287 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7085.json" } }, { "id": "droid_molmo_sam2_episode_1830", "task": "Push the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1830/0000.jpg", "droid_molmo_sam2/images/episode_1830/0161.jpg", "droid_molmo_sam2/images/episode_1830/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the ball to the right?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.458, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.576]). The trajectory involves 175 precise waypoints with total movement distance of 0.802." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1830", "trajectory_length": 175, "key_frame_indices": [ 0, 161, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1830.json" } }, { "id": "droid_molmo_sam2_episode_1520", "task": "Move the mug to the table on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1520/0000.jpg", "droid_molmo_sam2/images/episode_1520/0071.jpg", "droid_molmo_sam2/images/episode_1520/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.643, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.509]). The trajectory involves 110 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1520", "trajectory_length": 110, "key_frame_indices": [ 0, 71, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1520.json" } }, { "id": "droid_molmo_sam2_episode_1238", "task": "Remove the lid from the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1238/0000.jpg", "droid_molmo_sam2/images/episode_1238/0132.jpg", "droid_molmo_sam2/images/episode_1238/0163.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, 0.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.070]). The trajectory involves 164 precise waypoints with total movement distance of 1.305." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1238", "trajectory_length": 164, "key_frame_indices": [ 0, 132, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1238.json" } }, { "id": "droid_molmo_sam2_episode_33920", "task": "Move the black snack packet forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33920/0000.jpg", "droid_molmo_sam2/images/episode_33920/0339.jpg", "droid_molmo_sam2/images/episode_33920/0391.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black snack packet forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black snack packet forward, execute the following phases: 1) Initial approach phase (start at [0.439, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.531]). The trajectory involves 392 precise waypoints with total movement distance of 2.413." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33920", "trajectory_length": 392, "key_frame_indices": [ 0, 339, 391 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33920.json" } }, { "id": "droid_molmo_sam2_episode_6668", "task": "Move the faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6668/0000.jpg", "droid_molmo_sam2/images/episode_6668/0128.jpg", "droid_molmo_sam2/images/episode_6668/0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.483, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.487]). The trajectory involves 270 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6668", "trajectory_length": 270, "key_frame_indices": [ 0, 128, 269 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6668.json" } }, { "id": "droid_molmo_sam2_episode_36373", "task": "Fold the black cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36373/0000.jpg", "droid_molmo_sam2/images/episode_36373/0349.jpg", "droid_molmo_sam2/images/episode_36373/0355.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the black cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the black cloth, execute the following phases: 1) Initial approach phase (start at [0.650, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.720]). The trajectory involves 356 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36373", "trajectory_length": 356, "key_frame_indices": [ 0, 349, 355 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36373.json" } }, { "id": "droid_molmo_sam2_episode_36717", "task": "Get the pink plate and use it to cover the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36717/0000.jpg", "droid_molmo_sam2/images/episode_36717/0120.jpg", "droid_molmo_sam2/images/episode_36717/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the pink plate and use it to cover the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the pink plate and use it to cover the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.633, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.450]). The trajectory involves 250 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36717", "trajectory_length": 250, "key_frame_indices": [ 0, 120, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36717.json" } }, { "id": "droid_molmo_sam2_episode_34456", "task": "Move the bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34456/0000.jpg", "droid_molmo_sam2/images/episode_34456/0107.jpg", "droid_molmo_sam2/images/episode_34456/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.622, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.321]). The trajectory involves 171 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34456", "trajectory_length": 171, "key_frame_indices": [ 0, 107, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34456.json" } }, { "id": "droid_molmo_sam2_episode_4225", "task": "Slide the grey towel slightly to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4225/0000.jpg", "droid_molmo_sam2/images/episode_4225/0090.jpg", "droid_molmo_sam2/images/episode_4225/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the grey towel slightly to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the grey towel slightly to the left., execute the following phases: 1) Initial approach phase (start at [0.636, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.393]). The trajectory involves 128 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4225", "trajectory_length": 128, "key_frame_indices": [ 0, 90, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4225.json" } }, { "id": "droid_molmo_sam2_episode_6920", "task": "Move the mug forwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6920/0000.jpg", "droid_molmo_sam2/images/episode_6920/0143.jpg", "droid_molmo_sam2/images/episode_6920/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forwards, execute the following phases: 1) Initial approach phase (start at [0.548, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.754]). The trajectory involves 171 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6920", "trajectory_length": 171, "key_frame_indices": [ 0, 143, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6920.json" } }, { "id": "droid_molmo_sam2_episode_1330", "task": "Remove the cubes from the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1330/0000.jpg", "droid_molmo_sam2/images/episode_1330/0675.jpg", "droid_molmo_sam2/images/episode_1330/0977.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cubes from the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cubes from the bowl, execute the following phases: 1) Initial approach phase (start at [0.557, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.558]). The trajectory involves 978 precise waypoints with total movement distance of 2.408." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1330", "trajectory_length": 978, "key_frame_indices": [ 0, 675, 977 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1330.json" } }, { "id": "droid_molmo_sam2_episode_34962", "task": "Move the basketball to the right side of the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34962/0000.jpg", "droid_molmo_sam2/images/episode_34962/0289.jpg", "droid_molmo_sam2/images/episode_34962/0356.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the basketball to the right side of the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the basketball to the right side of the table., execute the following phases: 1) Initial approach phase (start at [0.345, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.568]). The trajectory involves 357 precise waypoints with total movement distance of 1.378." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34962", "trajectory_length": 357, "key_frame_indices": [ 0, 289, 356 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34962.json" } }, { "id": "droid_molmo_sam2_episode_37704", "task": "Pick up the orange cup from the table and put it in the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37704/0000.jpg", "droid_molmo_sam2/images/episode_37704/0054.jpg", "droid_molmo_sam2/images/episode_37704/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange cup from the table and put it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange cup from the table and put it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.378, 0.688]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.539]). The trajectory involves 88 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37704", "trajectory_length": 88, "key_frame_indices": [ 0, 54, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37704.json" } }, { "id": "droid_molmo_sam2_episode_6358", "task": "Fold the towel three times", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6358/0000.jpg", "droid_molmo_sam2/images/episode_6358/0300.jpg", "droid_molmo_sam2/images/episode_6358/0539.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel three times?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel three times, execute the following phases: 1) Initial approach phase (start at [0.528, 0.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.747]). The trajectory involves 540 precise waypoints with total movement distance of 2.996." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6358", "trajectory_length": 540, "key_frame_indices": [ 0, 300, 539 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6358.json" } }, { "id": "droid_molmo_sam2_episode_39354", "task": "Open the shower door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39354/0000.jpg", "droid_molmo_sam2/images/episode_39354/0233.jpg", "droid_molmo_sam2/images/episode_39354/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the shower door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the shower door, execute the following phases: 1) Initial approach phase (start at [0.371, 0.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.535]). The trajectory involves 280 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39354", "trajectory_length": 280, "key_frame_indices": [ 0, 233, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39354.json" } }, { "id": "droid_molmo_sam2_episode_30154", "task": "Move the jeans to the right corner", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30154/0000.jpg", "droid_molmo_sam2/images/episode_30154/0062.jpg", "droid_molmo_sam2/images/episode_30154/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the jeans to the right corner?" }, { "from": "gpt", "value": "To complete this repositioning: Move the jeans to the right corner, execute the following phases: 1) Initial approach phase (start at [0.513, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.642]). The trajectory involves 125 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30154", "trajectory_length": 125, "key_frame_indices": [ 0, 62, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30154.json" } }, { "id": "droid_molmo_sam2_episode_37001", "task": "Move the radish to the right, move the pink and peach shirts to the right, move the peach shirt to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37001/0000.jpg", "droid_molmo_sam2/images/episode_37001/0443.jpg", "droid_molmo_sam2/images/episode_37001/0542.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the radish to the right, move the pink and peach shirts to the right, move the peach shirt to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the radish to the right, move the pink and peach shirts to the right, move the peach shirt to the left, execute the following phases: 1) Initial approach phase (start at [0.503, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.521]). The trajectory involves 543 precise waypoints with total movement distance of 1.061." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37001", "trajectory_length": 543, "key_frame_indices": [ 0, 443, 542 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37001.json" } }, { "id": "droid_molmo_sam2_episode_35205", "task": "Move the cloth to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35205/0000.jpg", "droid_molmo_sam2/images/episode_35205/0053.jpg", "droid_molmo_sam2/images/episode_35205/0086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth to the right, execute the following phases: 1) Initial approach phase (start at [0.414, 0.355]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.539, 0.436]). The trajectory involves 87 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35205", "trajectory_length": 87, "key_frame_indices": [ 0, 53, 86 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35205.json" } }, { "id": "droid_molmo_sam2_episode_90", "task": "Twist the straw to the side.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_90/0000.jpg", "droid_molmo_sam2/images/episode_90/0353.jpg", "droid_molmo_sam2/images/episode_90/0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Twist the straw to the side.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Twist the straw to the side., execute the following phases: 1) Initial approach phase (start at [0.532, 0.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.503]). The trajectory involves 370 precise waypoints with total movement distance of 0.953." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_90", "trajectory_length": 370, "key_frame_indices": [ 0, 353, 369 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_90.json" } }, { "id": "droid_molmo_sam2_episode_35600", "task": "Pull back the blanket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35600/0000.jpg", "droid_molmo_sam2/images/episode_35600/0198.jpg", "droid_molmo_sam2/images/episode_35600/0422.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull back the blanket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull back the blanket, execute the following phases: 1) Initial approach phase (start at [0.602, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.770]). The trajectory involves 423 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35600", "trajectory_length": 423, "key_frame_indices": [ 0, 198, 422 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35600.json" } }, { "id": "droid_molmo_sam2_episode_7485", "task": "Fold the blue towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7485/0000.jpg", "droid_molmo_sam2/images/episode_7485/0133.jpg", "droid_molmo_sam2/images/episode_7485/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the blue towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the blue towel, execute the following phases: 1) Initial approach phase (start at [0.531, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.551]). The trajectory involves 145 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7485", "trajectory_length": 145, "key_frame_indices": [ 0, 133, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7485.json" } }, { "id": "droid_molmo_sam2_episode_32506", "task": "Pick up the yellow towel put it in the basket, pick up a black masking tape put it in the cup, pick up the light yellow towel put it in the basket, pick up the marker put it in the cup, pick up the white-brown towel put it in the basket and pick up the object put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32506/0000.jpg", "droid_molmo_sam2/images/episode_32506/0645.jpg", "droid_molmo_sam2/images/episode_32506/1292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow towel put it in the basket, pick up a black masking tape put it in the cup, pick up the light yellow towel put it in the basket, pick up the marker put it in the cup, pick up the white-brown towel put it in the basket and pick up the object put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow towel put it in the basket, pick up a black masking tape put it in the cup, pick up the light yellow towel put it in the basket, pick up the marker put it in the cup, pick up the white-brown towel put it in the basket and pick up the object put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.427, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.240, 0.605]). The trajectory involves 1293 precise waypoints with total movement distance of 5.201." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32506", "trajectory_length": 1293, "key_frame_indices": [ 0, 645, 1292 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32506.json" } }, { "id": "droid_molmo_sam2_episode_35943", "task": "Take the spoon out of the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35943/0000.jpg", "droid_molmo_sam2/images/episode_35943/0205.jpg", "droid_molmo_sam2/images/episode_35943/0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the spoon out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the spoon out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.883, 0.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.727, 0.555]). The trajectory involves 243 precise waypoints with total movement distance of 1.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35943", "trajectory_length": 243, "key_frame_indices": [ 0, 205, 242 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35943.json" } }, { "id": "droid_molmo_sam2_episode_6544", "task": "Push the grey pot backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6544/0000.jpg", "droid_molmo_sam2/images/episode_6544/0072.jpg", "droid_molmo_sam2/images/episode_6544/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the grey pot backwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the grey pot backwards, execute the following phases: 1) Initial approach phase (start at [0.695, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.629]). The trajectory involves 112 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6544", "trajectory_length": 112, "key_frame_indices": [ 0, 72, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6544.json" } }, { "id": "droid_molmo_sam2_episode_32029", "task": "Pull out the brown box from underneath the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32029/0000.jpg", "droid_molmo_sam2/images/episode_32029/0172.jpg", "droid_molmo_sam2/images/episode_32029/0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out the brown box from underneath the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out the brown box from underneath the cabinet, execute the following phases: 1) Initial approach phase (start at [0.509, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.818]). The trajectory involves 211 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32029", "trajectory_length": 211, "key_frame_indices": [ 0, 172, 210 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32029.json" } }, { "id": "droid_molmo_sam2_episode_39118", "task": "Put the black masking tape on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39118/0000.jpg", "droid_molmo_sam2/images/episode_39118/0083.jpg", "droid_molmo_sam2/images/episode_39118/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black masking tape on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black masking tape on the white plate, execute the following phases: 1) Initial approach phase (start at [0.399, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.344]). The trajectory involves 140 precise waypoints with total movement distance of 0.402." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39118", "trajectory_length": 140, "key_frame_indices": [ 0, 83, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39118.json" } }, { "id": "droid_molmo_sam2_episode_998", "task": "Unfold the yellow towel once from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_998/0000.jpg", "droid_molmo_sam2/images/episode_998/0319.jpg", "droid_molmo_sam2/images/episode_998/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the yellow towel once from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the yellow towel once from right to left, execute the following phases: 1) Initial approach phase (start at [0.730, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.752]). The trajectory involves 341 precise waypoints with total movement distance of 0.453." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_998", "trajectory_length": 341, "key_frame_indices": [ 0, 319, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_998.json" } }, { "id": "droid_molmo_sam2_episode_38723", "task": "Wipe the table using the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38723/0000.jpg", "droid_molmo_sam2/images/episode_38723/0081.jpg", "droid_molmo_sam2/images/episode_38723/0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table using the yellow towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table using the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.288, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.615]). The trajectory involves 240 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38723", "trajectory_length": 240, "key_frame_indices": [ 0, 81, 239 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38723.json" } }, { "id": "droid_molmo_sam2_episode_33549", "task": "Place the white package in the clear container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33549/0000.jpg", "droid_molmo_sam2/images/episode_33549/0114.jpg", "droid_molmo_sam2/images/episode_33549/0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white package in the clear container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white package in the clear container, execute the following phases: 1) Initial approach phase (start at [0.732, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.352]). The trajectory involves 279 precise waypoints with total movement distance of 1.281." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33549", "trajectory_length": 279, "key_frame_indices": [ 0, 114, 278 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33549.json" } }, { "id": "droid_molmo_sam2_episode_32642", "task": "Hang the cloth on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32642/0000.jpg", "droid_molmo_sam2/images/episode_32642/0233.jpg", "droid_molmo_sam2/images/episode_32642/0558.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the object, execute the following phases: 1) Initial approach phase (start at [0.551, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.390]). The trajectory involves 559 precise waypoints with total movement distance of 1.673." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32642", "trajectory_length": 559, "key_frame_indices": [ 0, 233, 558 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32642.json" } }, { "id": "droid_molmo_sam2_episode_37582", "task": "Pick the silver lid and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37582/0000.jpg", "droid_molmo_sam2/images/episode_37582/0319.jpg", "droid_molmo_sam2/images/episode_37582/0350.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the silver lid and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the silver lid and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.823, 0.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.824, 0.821]). The trajectory involves 351 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37582", "trajectory_length": 351, "key_frame_indices": [ 0, 319, 350 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37582.json" } }, { "id": "droid_molmo_sam2_episode_37957", "task": "Put the marker in the yellow cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37957/0000.jpg", "droid_molmo_sam2/images/episode_37957/0126.jpg", "droid_molmo_sam2/images/episode_37957/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the yellow cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the yellow cup, execute the following phases: 1) Initial approach phase (start at [0.791, 0.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 0.113]). The trajectory involves 133 precise waypoints with total movement distance of 1.580." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37957", "trajectory_length": 133, "key_frame_indices": [ 0, 126, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37957.json" } }, { "id": "droid_molmo_sam2_episode_3333", "task": "Pick up the white ropes from the table and put them in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3333/0000.jpg", "droid_molmo_sam2/images/episode_3333/0120.jpg", "droid_molmo_sam2/images/episode_3333/0389.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white ropes from the table and put them in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white ropes from the table and put them in the box, execute the following phases: 1) Initial approach phase (start at [0.514, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.516]). The trajectory involves 390 precise waypoints with total movement distance of 2.232." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3333", "trajectory_length": 390, "key_frame_indices": [ 0, 120, 389 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3333.json" } }, { "id": "droid_molmo_sam2_episode_7369", "task": "Put the white towel into the black basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7369/0000.jpg", "droid_molmo_sam2/images/episode_7369/0456.jpg", "droid_molmo_sam2/images/episode_7369/0497.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel into the black basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel into the black basket, execute the following phases: 1) Initial approach phase (start at [0.247, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 498 precise waypoints with total movement distance of 2.151." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7369", "trajectory_length": 498, "key_frame_indices": [ 0, 456, 497 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7369.json" } }, { "id": "droid_molmo_sam2_episode_3016", "task": "Move the black and white mug slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3016/0000.jpg", "droid_molmo_sam2/images/episode_3016/0258.jpg", "droid_molmo_sam2/images/episode_3016/0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black and white mug slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black and white mug slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.534, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.768]). The trajectory involves 281 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3016", "trajectory_length": 281, "key_frame_indices": [ 0, 258, 280 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3016.json" } }, { "id": "droid_molmo_sam2_episode_3022", "task": "Move the clear lunchbox forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3022/0000.jpg", "droid_molmo_sam2/images/episode_3022/0125.jpg", "droid_molmo_sam2/images/episode_3022/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear lunchbox forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear lunchbox forward, execute the following phases: 1) Initial approach phase (start at [0.249, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.631]). The trajectory involves 195 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3022", "trajectory_length": 195, "key_frame_indices": [ 0, 125, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3022.json" } }, { "id": "droid_molmo_sam2_episode_39856", "task": "Replace the paper towel roll with the core on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39856/0000.jpg", "droid_molmo_sam2/images/episode_39856/0199.jpg", "droid_molmo_sam2/images/episode_39856/0632.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Replace the paper towel roll with the core on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Replace the paper towel roll with the core on the stand, execute the following phases: 1) Initial approach phase (start at [0.447, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.824]). The trajectory involves 633 precise waypoints with total movement distance of 1.540." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39856", "trajectory_length": 633, "key_frame_indices": [ 0, 199, 632 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39856.json" } }, { "id": "droid_molmo_sam2_episode_36622", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36622/0000.jpg", "droid_molmo_sam2/images/episode_36622/0094.jpg", "droid_molmo_sam2/images/episode_36622/0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.440, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.586]). The trajectory involves 108 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36622", "trajectory_length": 108, "key_frame_indices": [ 0, 94, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36622.json" } }, { "id": "droid_molmo_sam2_episode_2635", "task": "Move the cup to the front", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2635/0000.jpg", "droid_molmo_sam2/images/episode_2635/0158.jpg", "droid_molmo_sam2/images/episode_2635/0253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the front?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the front, execute the following phases: 1) Initial approach phase (start at [0.546, 0.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.411]). The trajectory involves 254 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2635", "trajectory_length": 254, "key_frame_indices": [ 0, 158, 253 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2635.json" } }, { "id": "droid_molmo_sam2_episode_34401", "task": "Remove the green marker from the grey bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34401/0000.jpg", "droid_molmo_sam2/images/episode_34401/0125.jpg", "droid_molmo_sam2/images/episode_34401/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green marker from the grey bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green marker from the grey bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.519, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.475]). The trajectory involves 186 precise waypoints with total movement distance of 0.754." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34401", "trajectory_length": 186, "key_frame_indices": [ 0, 125, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34401.json" } }, { "id": "droid_molmo_sam2_episode_7212", "task": "Pick up the orange cup and put it in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7212/0000.jpg", "droid_molmo_sam2/images/episode_7212/0056.jpg", "droid_molmo_sam2/images/episode_7212/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.405, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.548]). The trajectory involves 106 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7212", "trajectory_length": 106, "key_frame_indices": [ 0, 56, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7212.json" } }, { "id": "droid_molmo_sam2_episode_6256", "task": "Put the slippers on the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6256/0000.jpg", "droid_molmo_sam2/images/episode_6256/0085.jpg", "droid_molmo_sam2/images/episode_6256/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the slippers on the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the slippers on the cabinet, execute the following phases: 1) Initial approach phase (start at [0.231, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.714]). The trajectory involves 194 precise waypoints with total movement distance of 1.287." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6256", "trajectory_length": 194, "key_frame_indices": [ 0, 85, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6256.json" } }, { "id": "droid_molmo_sam2_episode_39139", "task": "Hang the cloth on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39139/0000.jpg", "droid_molmo_sam2/images/episode_39139/0129.jpg", "droid_molmo_sam2/images/episode_39139/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the object, execute the following phases: 1) Initial approach phase (start at [0.412, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.615]). The trajectory involves 225 precise waypoints with total movement distance of 1.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39139", "trajectory_length": 225, "key_frame_indices": [ 0, 129, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39139.json" } }, { "id": "droid_molmo_sam2_episode_38619", "task": "Hang the white cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38619/0000.jpg", "droid_molmo_sam2/images/episode_38619/0071.jpg", "droid_molmo_sam2/images/episode_38619/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.587, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.333]). The trajectory involves 147 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38619", "trajectory_length": 147, "key_frame_indices": [ 0, 71, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38619.json" } }, { "id": "droid_molmo_sam2_episode_36574", "task": "Put the cup into the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36574/0000.jpg", "droid_molmo_sam2/images/episode_36574/0062.jpg", "droid_molmo_sam2/images/episode_36574/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup into the bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup into the bowl., execute the following phases: 1) Initial approach phase (start at [0.492, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.539]). The trajectory involves 111 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36574", "trajectory_length": 111, "key_frame_indices": [ 0, 62, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36574.json" } }, { "id": "droid_molmo_sam2_episode_34657", "task": "Turn on the extension cord", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34657/0000.jpg", "droid_molmo_sam2/images/episode_34657/0015.jpg", "droid_molmo_sam2/images/episode_34657/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the extension cord?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn on the extension cord, execute the following phases: 1) Initial approach phase (start at [0.814, 0.875]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.814, 0.873]). The trajectory involves 179 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34657", "trajectory_length": 179, "key_frame_indices": [ 0, 15, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34657.json" } }, { "id": "droid_molmo_sam2_episode_4360", "task": "Place the lid on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4360/0000.jpg", "droid_molmo_sam2/images/episode_4360/0156.jpg", "droid_molmo_sam2/images/episode_4360/0190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.604, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.285]). The trajectory involves 191 precise waypoints with total movement distance of 0.624." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4360", "trajectory_length": 191, "key_frame_indices": [ 0, 156, 190 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4360.json" } }, { "id": "droid_molmo_sam2_episode_32792", "task": "Put the marker into the cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32792/0000.jpg", "droid_molmo_sam2/images/episode_32792/0139.jpg", "droid_molmo_sam2/images/episode_32792/0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the cup.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the cup., execute the following phases: 1) Initial approach phase (start at [0.520, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.903]). The trajectory involves 245 precise waypoints with total movement distance of 0.879." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32792", "trajectory_length": 245, "key_frame_indices": [ 0, 139, 244 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32792.json" } }, { "id": "droid_molmo_sam2_episode_469", "task": "Move the yellow mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_469/0000.jpg", "droid_molmo_sam2/images/episode_469/0097.jpg", "droid_molmo_sam2/images/episode_469/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug to the right, execute the following phases: 1) Initial approach phase (start at [0.546, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.381]). The trajectory involves 143 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_469", "trajectory_length": 143, "key_frame_indices": [ 0, 97, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_469.json" } }, { "id": "droid_molmo_sam2_episode_3169", "task": "Put the screwdriver in the drawer then close it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3169/0000.jpg", "droid_molmo_sam2/images/episode_3169/0041.jpg", "droid_molmo_sam2/images/episode_3169/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the screwdriver in the drawer then close it?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the screwdriver in the drawer then close it, execute the following phases: 1) Initial approach phase (start at [0.595, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.395]). The trajectory involves 229 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3169", "trajectory_length": 229, "key_frame_indices": [ 0, 41, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3169.json" } }, { "id": "droid_molmo_sam2_episode_2830", "task": "Move the green towel to the right back corner", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2830/0000.jpg", "droid_molmo_sam2/images/episode_2830/0063.jpg", "droid_molmo_sam2/images/episode_2830/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the right back corner?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the right back corner, execute the following phases: 1) Initial approach phase (start at [0.504, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.607, 0.531]). The trajectory involves 89 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2830", "trajectory_length": 89, "key_frame_indices": [ 0, 63, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2830.json" } }, { "id": "droid_molmo_sam2_episode_3145", "task": "Take the spatula and stir the contents in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3145/0000.jpg", "droid_molmo_sam2/images/episode_3145/0698.jpg", "droid_molmo_sam2/images/episode_3145/0742.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the spatula and stir the contents in the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the spatula and stir the contents in the pot, execute the following phases: 1) Initial approach phase (start at [0.392, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.503]). The trajectory involves 743 precise waypoints with total movement distance of 6.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3145", "trajectory_length": 743, "key_frame_indices": [ 0, 698, 742 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3145.json" } }, { "id": "droid_molmo_sam2_episode_739", "task": "Open the right cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_739/0000.jpg", "droid_molmo_sam2/images/episode_739/0118.jpg", "droid_molmo_sam2/images/episode_739/0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the right cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the right cabinet door, execute the following phases: 1) Initial approach phase (start at [0.630, 0.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 433 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_739", "trajectory_length": 433, "key_frame_indices": [ 0, 118, 432 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_739.json" } }, { "id": "droid_molmo_sam2_episode_1723", "task": "Pick the rag on the handle of the cabinet door and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1723/0000.jpg", "droid_molmo_sam2/images/episode_1723/0264.jpg", "droid_molmo_sam2/images/episode_1723/0305.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?" }, { "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, execute the following phases: 1) Initial approach phase (start at [0.514, 0.983]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.895]). The trajectory involves 306 precise waypoints with total movement distance of 1.239." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1723", "trajectory_length": 306, "key_frame_indices": [ 0, 264, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1723.json" } }, { "id": "droid_molmo_sam2_episode_31851", "task": "Put the white sponge with a black strap on the yellow plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31851/0000.jpg", "droid_molmo_sam2/images/episode_31851/0085.jpg", "droid_molmo_sam2/images/episode_31851/0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white sponge with a black strap on the yellow plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white sponge with a black strap on the yellow plate, execute the following phases: 1) Initial approach phase (start at [0.628, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.443]). The trajectory involves 172 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31851", "trajectory_length": 172, "key_frame_indices": [ 0, 85, 171 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31851.json" } }, { "id": "droid_molmo_sam2_episode_6244", "task": "Move the mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6244/0000.jpg", "droid_molmo_sam2/images/episode_6244/0086.jpg", "droid_molmo_sam2/images/episode_6244/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.469, 0.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.432]). The trajectory involves 114 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6244", "trajectory_length": 114, "key_frame_indices": [ 0, 86, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6244.json" } }, { "id": "droid_molmo_sam2_episode_6569", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6569/0000.jpg", "droid_molmo_sam2/images/episode_6569/0049.jpg", "droid_molmo_sam2/images/episode_6569/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.580, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.718, 0.696]). The trajectory involves 89 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6569", "trajectory_length": 89, "key_frame_indices": [ 0, 49, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6569.json" } }, { "id": "droid_molmo_sam2_episode_6749", "task": "Put the pen inside the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6749/0000.jpg", "droid_molmo_sam2/images/episode_6749/0192.jpg", "droid_molmo_sam2/images/episode_6749/0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen inside the cup, execute the following phases: 1) Initial approach phase (start at [0.500, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.492]). The trajectory involves 338 precise waypoints with total movement distance of 1.031." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6749", "trajectory_length": 338, "key_frame_indices": [ 0, 192, 337 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6749.json" } }, { "id": "droid_molmo_sam2_episode_30373", "task": "Pick up the medicine bottle from the table and move it forward.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30373/0000.jpg", "droid_molmo_sam2/images/episode_30373/0065.jpg", "droid_molmo_sam2/images/episode_30373/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the medicine bottle from the table and move it forward.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the medicine bottle from the table and move it forward., execute the following phases: 1) Initial approach phase (start at [0.767, 0.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.254]). The trajectory involves 137 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30373", "trajectory_length": 137, "key_frame_indices": [ 0, 65, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30373.json" } }, { "id": "droid_molmo_sam2_episode_32372", "task": "Use the tea towel to cover the screwdriver", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32372/0000.jpg", "droid_molmo_sam2/images/episode_32372/0191.jpg", "droid_molmo_sam2/images/episode_32372/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the tea towel to cover the screwdriver?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the tea towel to cover the screwdriver, execute the following phases: 1) Initial approach phase (start at [0.414, 0.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.569]). The trajectory involves 222 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32372", "trajectory_length": 222, "key_frame_indices": [ 0, 191, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32372.json" } }, { "id": "droid_molmo_sam2_episode_32703", "task": "Take the blue cup off of the cup and place it onto the stovetop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32703/0000.jpg", "droid_molmo_sam2/images/episode_32703/0070.jpg", "droid_molmo_sam2/images/episode_32703/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue cup off of the cup and place it onto the stovetop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the blue cup off of the cup and place it onto the stovetop, execute the following phases: 1) Initial approach phase (start at [0.658, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.674]). The trajectory involves 144 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32703", "trajectory_length": 144, "key_frame_indices": [ 0, 70, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32703.json" } }, { "id": "droid_molmo_sam2_episode_31742", "task": "Place the toothbrush inside the silver cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31742/0000.jpg", "droid_molmo_sam2/images/episode_31742/0125.jpg", "droid_molmo_sam2/images/episode_31742/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the toothbrush inside the silver cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the toothbrush inside the silver cup, execute the following phases: 1) Initial approach phase (start at [0.398, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.360]). The trajectory involves 225 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31742", "trajectory_length": 225, "key_frame_indices": [ 0, 125, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31742.json" } }, { "id": "droid_molmo_sam2_episode_31911", "task": "Get the knife that is on top of the cabinet and place it in the box that is in the open file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31911/0000.jpg", "droid_molmo_sam2/images/episode_31911/0367.jpg", "droid_molmo_sam2/images/episode_31911/0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the knife that is on top of the cabinet and place it in the box that is in the open file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Get the knife that is on top of the cabinet and place it in the box that is in the open file cabinet, execute the following phases: 1) Initial approach phase (start at [0.603, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.760, 0.706]). The trajectory involves 382 precise waypoints with total movement distance of 1.621." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31911", "trajectory_length": 382, "key_frame_indices": [ 0, 367, 381 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31911.json" } }, { "id": "droid_molmo_sam2_episode_39374", "task": "Turn the tap nozzle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39374/0000.jpg", "droid_molmo_sam2/images/episode_39374/0138.jpg", "droid_molmo_sam2/images/episode_39374/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap nozzle to the right, execute the following phases: 1) Initial approach phase (start at [0.727, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.413]). The trajectory involves 177 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39374", "trajectory_length": 177, "key_frame_indices": [ 0, 138, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39374.json" } }, { "id": "droid_molmo_sam2_episode_6896", "task": "Put the pineapple plush on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6896/0000.jpg", "droid_molmo_sam2/images/episode_6896/0133.jpg", "droid_molmo_sam2/images/episode_6896/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pineapple plush on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pineapple plush on the countertop, execute the following phases: 1) Initial approach phase (start at [0.662, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.779, 0.522]). The trajectory involves 139 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6896", "trajectory_length": 139, "key_frame_indices": [ 0, 133, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6896.json" } }, { "id": "droid_molmo_sam2_episode_39170", "task": "Put the cup on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39170/0000.jpg", "droid_molmo_sam2/images/episode_39170/0116.jpg", "droid_molmo_sam2/images/episode_39170/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup on the plate, execute the following phases: 1) Initial approach phase (start at [0.643, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.669]). The trajectory involves 250 precise waypoints with total movement distance of 0.828." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39170", "trajectory_length": 250, "key_frame_indices": [ 0, 116, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39170.json" } }, { "id": "droid_molmo_sam2_episode_31138", "task": "Pick up the lid and cover the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31138/0000.jpg", "droid_molmo_sam2/images/episode_31138/0156.jpg", "droid_molmo_sam2/images/episode_31138/0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and cover the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the lid and cover the pot, execute the following phases: 1) Initial approach phase (start at [0.488, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.618]). The trajectory involves 238 precise waypoints with total movement distance of 0.883." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31138", "trajectory_length": 238, "key_frame_indices": [ 0, 156, 237 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31138.json" } }, { "id": "droid_molmo_sam2_episode_6472", "task": "Straighten up the paper towel on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6472/0000.jpg", "droid_molmo_sam2/images/episode_6472/0065.jpg", "droid_molmo_sam2/images/episode_6472/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten up the paper towel on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten up the paper towel on the table, execute the following phases: 1) Initial approach phase (start at [0.559, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.756]). The trajectory involves 136 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6472", "trajectory_length": 136, "key_frame_indices": [ 0, 65, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6472.json" } }, { "id": "droid_molmo_sam2_episode_32259", "task": "Push the basketball to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32259/0000.jpg", "droid_molmo_sam2/images/episode_32259/0122.jpg", "droid_molmo_sam2/images/episode_32259/0303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the basketball to the right side of the table?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the basketball to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.242, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.568]). The trajectory involves 304 precise waypoints with total movement distance of 1.078." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32259", "trajectory_length": 304, "key_frame_indices": [ 0, 122, 303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32259.json" } }, { "id": "droid_molmo_sam2_episode_1045", "task": "Put one white plate inside the dishwasher", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1045/0000.jpg", "droid_molmo_sam2/images/episode_1045/0909.jpg", "droid_molmo_sam2/images/episode_1045/1009.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one white plate inside the dishwasher?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put one white plate inside the dishwasher, execute the following phases: 1) Initial approach phase (start at [0.473, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.526]). The trajectory involves 1010 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1045", "trajectory_length": 1010, "key_frame_indices": [ 0, 909, 1009 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1045.json" } }, { "id": "droid_molmo_sam2_episode_38185", "task": "Move the green towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38185/0000.jpg", "droid_molmo_sam2/images/episode_38185/0158.jpg", "droid_molmo_sam2/images/episode_38185/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the right, execute the following phases: 1) Initial approach phase (start at [0.487, 0.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.677]). The trajectory involves 166 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38185", "trajectory_length": 166, "key_frame_indices": [ 0, 158, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38185.json" } }, { "id": "droid_molmo_sam2_episode_3841", "task": "Move the green object to the left side of the first shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3841/0000.jpg", "droid_molmo_sam2/images/episode_3841/0201.jpg", "droid_molmo_sam2/images/episode_3841/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green object to the left side of the first shelf?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green object to the left side of the first shelf, execute the following phases: 1) Initial approach phase (start at [0.293, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 214 precise waypoints with total movement distance of 0.970." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3841", "trajectory_length": 214, "key_frame_indices": [ 0, 201, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3841.json" } }, { "id": "droid_molmo_sam2_episode_31840", "task": "Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31840/0000.jpg", "droid_molmo_sam2/images/episode_31840/0189.jpg", "droid_molmo_sam2/images/episode_31840/0221.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 [0.567, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.692]). The trajectory involves 222 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31840", "trajectory_length": 222, "key_frame_indices": [ 0, 189, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31840.json" } }, { "id": "droid_molmo_sam2_episode_2193", "task": "Take the marker out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2193/0000.jpg", "droid_molmo_sam2/images/episode_2193/0117.jpg", "droid_molmo_sam2/images/episode_2193/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.522, 0.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.633]). The trajectory involves 193 precise waypoints with total movement distance of 0.947." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2193", "trajectory_length": 193, "key_frame_indices": [ 0, 117, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2193.json" } }, { "id": "droid_molmo_sam2_episode_31979", "task": "Lay the bottle on its side then place it upside down", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31979/0000.jpg", "droid_molmo_sam2/images/episode_31979/0059.jpg", "droid_molmo_sam2/images/episode_31979/0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lay the bottle on its side then place it upside down?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Lay the bottle on its side then place it upside down, execute the following phases: 1) Initial approach phase (start at [0.660, 0.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.448]). The trajectory involves 286 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31979", "trajectory_length": 286, "key_frame_indices": [ 0, 59, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31979.json" } }, { "id": "droid_molmo_sam2_episode_35878", "task": "Put the blue plate on the rack on the green plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35878/0000.jpg", "droid_molmo_sam2/images/episode_35878/0165.jpg", "droid_molmo_sam2/images/episode_35878/0310.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue plate on the rack on the green plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue plate on the rack on the green plate, execute the following phases: 1) Initial approach phase (start at [0.626, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.532]). The trajectory involves 311 precise waypoints with total movement distance of 0.688." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35878", "trajectory_length": 311, "key_frame_indices": [ 0, 165, 310 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35878.json" } }, { "id": "droid_molmo_sam2_episode_35592", "task": "Put the pink can next to the yellow one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35592/0000.jpg", "droid_molmo_sam2/images/episode_35592/0222.jpg", "droid_molmo_sam2/images/episode_35592/0323.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink can next to the yellow one?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink can next to the yellow one, execute the following phases: 1) Initial approach phase (start at [0.885, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.807]). The trajectory involves 324 precise waypoints with total movement distance of 1.044." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35592", "trajectory_length": 324, "key_frame_indices": [ 0, 222, 323 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35592.json" } }, { "id": "droid_molmo_sam2_episode_2085", "task": "Remove the lid from the black pot on the right side of the stove", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2085/0000.jpg", "droid_molmo_sam2/images/episode_2085/0130.jpg", "droid_molmo_sam2/images/episode_2085/0197.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the black pot on the right side of the stove, execute the following phases: 1) Initial approach phase (start at [0.845, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.522]). The trajectory involves 198 precise waypoints with total movement distance of 0.771." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2085", "trajectory_length": 198, "key_frame_indices": [ 0, 130, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2085.json" } }, { "id": "droid_molmo_sam2_episode_38882", "task": "Fold the blue cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38882/0000.jpg", "droid_molmo_sam2/images/episode_38882/0139.jpg", "droid_molmo_sam2/images/episode_38882/0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the blue cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the blue cloth, execute the following phases: 1) Initial approach phase (start at [0.406, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.700]). The trajectory involves 260 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38882", "trajectory_length": 260, "key_frame_indices": [ 0, 139, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38882.json" } }, { "id": "droid_molmo_sam2_episode_3547", "task": "Put the block in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3547/0000.jpg", "droid_molmo_sam2/images/episode_3547/0103.jpg", "droid_molmo_sam2/images/episode_3547/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the block in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.467, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 122 precise waypoints with total movement distance of 0.783." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3547", "trajectory_length": 122, "key_frame_indices": [ 0, 103, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3547.json" } }, { "id": "droid_molmo_sam2_episode_1032", "task": "Put the bottle on the bottom shelf of the open cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1032/0000.jpg", "droid_molmo_sam2/images/episode_1032/0182.jpg", "droid_molmo_sam2/images/episode_1032/0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle on the bottom shelf of the open cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the bottle on the bottom shelf of the open cabinet, execute the following phases: 1) Initial approach phase (start at [0.556, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 282 precise waypoints with total movement distance of 1.488." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1032", "trajectory_length": 282, "key_frame_indices": [ 0, 182, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1032.json" } }, { "id": "droid_molmo_sam2_episode_34881", "task": "Put the cloth on the black rod", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34881/0000.jpg", "droid_molmo_sam2/images/episode_34881/0069.jpg", "droid_molmo_sam2/images/episode_34881/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the black rod?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the black rod, execute the following phases: 1) Initial approach phase (start at [0.602, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.321]). The trajectory involves 126 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34881", "trajectory_length": 126, "key_frame_indices": [ 0, 69, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34881.json" } }, { "id": "droid_molmo_sam2_episode_6473", "task": "Pour some contents from the clear jar into the orange bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6473/0000.jpg", "droid_molmo_sam2/images/episode_6473/0243.jpg", "droid_molmo_sam2/images/episode_6473/0401.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some contents from the clear jar into the orange bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour some contents from the clear jar into the orange bowl, execute the following phases: 1) Initial approach phase (start at [0.484, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.727]). The trajectory involves 402 precise waypoints with total movement distance of 2.549." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6473", "trajectory_length": 402, "key_frame_indices": [ 0, 243, 401 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6473.json" } }, { "id": "droid_molmo_sam2_episode_2251", "task": "Move the orange marker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2251/0000.jpg", "droid_molmo_sam2/images/episode_2251/0075.jpg", "droid_molmo_sam2/images/episode_2251/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange marker?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange marker, execute the following phases: 1) Initial approach phase (start at [0.959, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.450]). The trajectory involves 119 precise waypoints with total movement distance of 1.179." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2251", "trajectory_length": 119, "key_frame_indices": [ 0, 75, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2251.json" } }, { "id": "droid_molmo_sam2_episode_30179", "task": "Put the purple bowl into the metal bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30179/0000.jpg", "droid_molmo_sam2/images/episode_30179/0134.jpg", "droid_molmo_sam2/images/episode_30179/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple bowl into the metal bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple bowl into the metal bowl, execute the following phases: 1) Initial approach phase (start at [0.720, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.740]). The trajectory involves 229 precise waypoints with total movement distance of 2.487." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30179", "trajectory_length": 229, "key_frame_indices": [ 0, 134, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30179.json" } }, { "id": "droid_molmo_sam2_episode_3076", "task": "Remove the fork from the bowl furthest to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3076/0000.jpg", "droid_molmo_sam2/images/episode_3076/0098.jpg", "droid_molmo_sam2/images/episode_3076/0303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the fork from the bowl furthest to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the fork from the bowl furthest to the right, execute the following phases: 1) Initial approach phase (start at [0.501, 0.957]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.903]). The trajectory involves 304 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3076", "trajectory_length": 304, "key_frame_indices": [ 0, 98, 303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3076.json" } }, { "id": "droid_molmo_sam2_episode_6523", "task": "Pull the chair out", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6523/0000.jpg", "droid_molmo_sam2/images/episode_6523/0188.jpg", "droid_molmo_sam2/images/episode_6523/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the chair out?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the chair out, execute the following phases: 1) Initial approach phase (start at [0.446, 0.876]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.899]). The trajectory involves 269 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6523", "trajectory_length": 269, "key_frame_indices": [ 0, 188, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6523.json" } }, { "id": "droid_molmo_sam2_episode_3937", "task": "Move the gray towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3937/0000.jpg", "droid_molmo_sam2/images/episode_3937/0082.jpg", "droid_molmo_sam2/images/episode_3937/0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the gray towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the gray towel to the left, execute the following phases: 1) Initial approach phase (start at [0.619, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.480]). The trajectory involves 97 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3937", "trajectory_length": 97, "key_frame_indices": [ 0, 82, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3937.json" } }, { "id": "droid_molmo_sam2_episode_4442", "task": "Open the door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4442/0000.jpg", "droid_molmo_sam2/images/episode_4442/0142.jpg", "droid_molmo_sam2/images/episode_4442/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door, execute the following phases: 1) Initial approach phase (start at [0.509, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.713, 0.779]). The trajectory involves 280 precise waypoints with total movement distance of 1.373." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4442", "trajectory_length": 280, "key_frame_indices": [ 0, 142, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4442.json" } }, { "id": "droid_molmo_sam2_episode_3492", "task": "Put the grape inside the dish", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3492/0000.jpg", "droid_molmo_sam2/images/episode_3492/0067.jpg", "droid_molmo_sam2/images/episode_3492/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grape inside the dish?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the grape inside the dish, execute the following phases: 1) Initial approach phase (start at [0.666, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 162 precise waypoints with total movement distance of 1.095." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3492", "trajectory_length": 162, "key_frame_indices": [ 0, 67, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3492.json" } }, { "id": "droid_molmo_sam2_episode_7144", "task": "Put the yellow pen in the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7144/0000.jpg", "droid_molmo_sam2/images/episode_7144/0217.jpg", "droid_molmo_sam2/images/episode_7144/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow pen in the white mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow pen in the white mug, execute the following phases: 1) Initial approach phase (start at [0.576, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.696]). The trajectory involves 337 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7144", "trajectory_length": 337, "key_frame_indices": [ 0, 217, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7144.json" } }, { "id": "droid_molmo_sam2_episode_38920", "task": "Put the green can in the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38920/0000.jpg", "droid_molmo_sam2/images/episode_38920/0111.jpg", "droid_molmo_sam2/images/episode_38920/0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green can in the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green can in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.456, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.174]). The trajectory involves 264 precise waypoints with total movement distance of 0.925." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38920", "trajectory_length": 264, "key_frame_indices": [ 0, 111, 263 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38920.json" } }, { "id": "droid_molmo_sam2_episode_36505", "task": "Close the bottom drawer of the cabinet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36505/0000.jpg", "droid_molmo_sam2/images/episode_36505/0019.jpg", "droid_molmo_sam2/images/episode_36505/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the cabinet to the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the cabinet to the right, execute the following phases: 1) Initial approach phase (start at [0.582, 0.850]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.595, 0.793]). The trajectory involves 100 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36505", "trajectory_length": 100, "key_frame_indices": [ 0, 19, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36505.json" } }, { "id": "droid_molmo_sam2_episode_6630", "task": "Open the curtain", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6630/0000.jpg", "droid_molmo_sam2/images/episode_6630/0201.jpg", "droid_molmo_sam2/images/episode_6630/0352.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the curtain?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the curtain, execute the following phases: 1) Initial approach phase (start at [0.386, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.675, 0.383]). The trajectory involves 353 precise waypoints with total movement distance of 5.165." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6630", "trajectory_length": 353, "key_frame_indices": [ 0, 201, 352 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6630.json" } }, { "id": "droid_molmo_sam2_episode_30316", "task": "Turn the tap nozzle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30316/0000.jpg", "droid_molmo_sam2/images/episode_30316/0103.jpg", "droid_molmo_sam2/images/episode_30316/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.674, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.672]). The trajectory involves 140 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30316", "trajectory_length": 140, "key_frame_indices": [ 0, 103, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30316.json" } }, { "id": "droid_molmo_sam2_episode_39695", "task": "Wipe the desk with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39695/0000.jpg", "droid_molmo_sam2/images/episode_39695/0097.jpg", "droid_molmo_sam2/images/episode_39695/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the desk with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the desk with the cloth, execute the following phases: 1) Initial approach phase (start at [0.412, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.454]). The trajectory involves 152 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39695", "trajectory_length": 152, "key_frame_indices": [ 0, 97, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39695.json" } }, { "id": "droid_molmo_sam2_episode_6235", "task": "Put all the objects in the center of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6235/0000.jpg", "droid_molmo_sam2/images/episode_6235/0260.jpg", "droid_molmo_sam2/images/episode_6235/0988.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put all the objects in the center of the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put all the objects in the center of the table, execute the following phases: 1) Initial approach phase (start at [0.406, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.650]). The trajectory involves 989 precise waypoints with total movement distance of 2.049." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6235", "trajectory_length": 989, "key_frame_indices": [ 0, 260, 988 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6235.json" } }, { "id": "droid_molmo_sam2_episode_6742", "task": "Move the faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6742/0000.jpg", "droid_molmo_sam2/images/episode_6742/0124.jpg", "droid_molmo_sam2/images/episode_6742/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.539, 0.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.199]). The trajectory involves 134 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6742", "trajectory_length": 134, "key_frame_indices": [ 0, 124, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6742.json" } }, { "id": "droid_molmo_sam2_episode_35357", "task": "Hang the cloth on the glass barrier", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35357/0000.jpg", "droid_molmo_sam2/images/episode_35357/0096.jpg", "droid_molmo_sam2/images/episode_35357/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the glass barrier?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the glass barrier, execute the following phases: 1) Initial approach phase (start at [0.541, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.392]). The trajectory involves 151 precise waypoints with total movement distance of 0.935." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35357", "trajectory_length": 151, "key_frame_indices": [ 0, 96, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35357.json" } }, { "id": "droid_molmo_sam2_episode_7348", "task": "Pick the marker and then put it back on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7348/0000.jpg", "droid_molmo_sam2/images/episode_7348/0112.jpg", "droid_molmo_sam2/images/episode_7348/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker and then put it back on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the marker and then put it back on the table, execute the following phases: 1) Initial approach phase (start at [0.641, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.512]). The trajectory involves 154 precise waypoints with total movement distance of 0.371." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7348", "trajectory_length": 154, "key_frame_indices": [ 0, 112, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7348.json" } }, { "id": "droid_molmo_sam2_episode_3250", "task": "Open the bottom drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3250/0000.jpg", "droid_molmo_sam2/images/episode_3250/0096.jpg", "droid_molmo_sam2/images/episode_3250/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer, execute the following phases: 1) Initial approach phase (start at [0.642, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.897]). The trajectory involves 156 precise waypoints with total movement distance of 0.059." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3250", "trajectory_length": 156, "key_frame_indices": [ 0, 96, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3250.json" } }, { "id": "droid_molmo_sam2_episode_1373", "task": "Move the bottle slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1373/0000.jpg", "droid_molmo_sam2/images/episode_1373/0171.jpg", "droid_molmo_sam2/images/episode_1373/0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.553, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.677, 0.504]). The trajectory involves 306 precise waypoints with total movement distance of 1.831." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1373", "trajectory_length": 306, "key_frame_indices": [ 0, 171, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1373.json" } }, { "id": "droid_molmo_sam2_episode_3028", "task": "Pick the banana plushy from the pot and it on the black tray", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3028/0000.jpg", "droid_molmo_sam2/images/episode_3028/0211.jpg", "droid_molmo_sam2/images/episode_3028/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the banana plushy from the pot and it on the black tray?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the banana plushy from the pot and it on the black tray, execute the following phases: 1) Initial approach phase (start at [0.730, 0.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.419]). The trajectory involves 271 precise waypoints with total movement distance of 1.238." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3028", "trajectory_length": 271, "key_frame_indices": [ 0, 211, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3028.json" } }, { "id": "droid_molmo_sam2_episode_39512", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39512/0000.jpg", "droid_molmo_sam2/images/episode_39512/0192.jpg", "droid_molmo_sam2/images/episode_39512/0308.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 [0.687, 0.946]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.937]). The trajectory involves 309 precise waypoints with total movement distance of 2.046." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39512", "trajectory_length": 309, "key_frame_indices": [ 0, 192, 308 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39512.json" } }, { "id": "droid_molmo_sam2_episode_7110", "task": "Pick up the marker from the table and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7110/0000.jpg", "droid_molmo_sam2/images/episode_7110/0209.jpg", "droid_molmo_sam2/images/episode_7110/0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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 marker from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.757, 0.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.824, 0.097]). The trajectory involves 268 precise waypoints with total movement distance of 1.850." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7110", "trajectory_length": 268, "key_frame_indices": [ 0, 209, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7110.json" } }, { "id": "droid_molmo_sam2_episode_2103", "task": "Open the laptop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2103/0000.jpg", "droid_molmo_sam2/images/episode_2103/0345.jpg", "droid_molmo_sam2/images/episode_2103/0370.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 [0.598, 0.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.570]). The trajectory involves 371 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2103", "trajectory_length": 371, "key_frame_indices": [ 0, 345, 370 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2103.json" } }, { "id": "droid_molmo_sam2_episode_3131", "task": "Use the spoon to stir the contents in the red bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3131/0000.jpg", "droid_molmo_sam2/images/episode_3131/0394.jpg", "droid_molmo_sam2/images/episode_3131/0492.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to stir the contents in the red bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the spoon to stir the contents in the red bowl, execute the following phases: 1) Initial approach phase (start at [0.527, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.641]). The trajectory involves 493 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3131", "trajectory_length": 493, "key_frame_indices": [ 0, 394, 492 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3131.json" } }, { "id": "droid_molmo_sam2_episode_30212", "task": "Put the right and white bottles in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30212/0000.jpg", "droid_molmo_sam2/images/episode_30212/0182.jpg", "droid_molmo_sam2/images/episode_30212/0409.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the right and white bottles in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the right and white bottles in the box, execute the following phases: 1) Initial approach phase (start at [0.393, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 410 precise waypoints with total movement distance of 1.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30212", "trajectory_length": 410, "key_frame_indices": [ 0, 182, 409 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30212.json" } }, { "id": "droid_molmo_sam2_episode_3227", "task": "Turn on the air conditioner then press two buttons on the air conditioner.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3227/0000.jpg", "droid_molmo_sam2/images/episode_3227/0129.jpg", "droid_molmo_sam2/images/episode_3227/0434.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the air conditioner then press two buttons on the air conditioner.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Turn on the air conditioner then press two buttons on the air conditioner., execute the following phases: 1) Initial approach phase (start at [0.870, 0.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.855, 0.207]). The trajectory involves 435 precise waypoints with total movement distance of 1.763." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3227", "trajectory_length": 435, "key_frame_indices": [ 0, 129, 434 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3227.json" } }, { "id": "droid_molmo_sam2_episode_39060", "task": "Move the green bottle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39060/0000.jpg", "droid_molmo_sam2/images/episode_39060/0163.jpg", "droid_molmo_sam2/images/episode_39060/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.943, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.725, 0.586]). The trajectory involves 219 precise waypoints with total movement distance of 0.856." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39060", "trajectory_length": 219, "key_frame_indices": [ 0, 163, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39060.json" } }, { "id": "droid_molmo_sam2_episode_909", "task": "Move the green towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_909/0000.jpg", "droid_molmo_sam2/images/episode_909/0083.jpg", "droid_molmo_sam2/images/episode_909/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the right, execute the following phases: 1) Initial approach phase (start at [0.507, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.543, 0.623]). The trajectory involves 99 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_909", "trajectory_length": 99, "key_frame_indices": [ 0, 83, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_909.json" } }, { "id": "droid_molmo_sam2_episode_33422", "task": "Put the marker inside the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33422/0000.jpg", "droid_molmo_sam2/images/episode_33422/0274.jpg", "droid_molmo_sam2/images/episode_33422/0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker inside the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker inside the cup, execute the following phases: 1) Initial approach phase (start at [0.745, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.522]). The trajectory involves 282 precise waypoints with total movement distance of 1.089." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33422", "trajectory_length": 282, "key_frame_indices": [ 0, 274, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33422.json" } }, { "id": "droid_molmo_sam2_episode_3055", "task": "Spread out the towel on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3055/0000.jpg", "droid_molmo_sam2/images/episode_3055/0177.jpg", "droid_molmo_sam2/images/episode_3055/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread out the towel on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread out the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.423, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.555]). The trajectory involves 214 precise waypoints with total movement distance of 2.416." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3055", "trajectory_length": 214, "key_frame_indices": [ 0, 177, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3055.json" } }, { "id": "droid_molmo_sam2_episode_39705", "task": "Fold the towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39705/0000.jpg", "droid_molmo_sam2/images/episode_39705/0260.jpg", "droid_molmo_sam2/images/episode_39705/0296.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel in half, execute the following phases: 1) Initial approach phase (start at [0.974, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.974, 0.743]). The trajectory involves 297 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39705", "trajectory_length": 297, "key_frame_indices": [ 0, 260, 296 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39705.json" } }, { "id": "droid_molmo_sam2_episode_842", "task": "Take the lid off the pot and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_842/0000.jpg", "droid_molmo_sam2/images/episode_842/0146.jpg", "droid_molmo_sam2/images/episode_842/0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the pot and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid off the pot and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.634, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 0.507]). The trajectory involves 189 precise waypoints with total movement distance of 3.116." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_842", "trajectory_length": 189, "key_frame_indices": [ 0, 146, 188 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_842.json" } }, { "id": "droid_molmo_sam2_episode_33788", "task": "Hang the black cloth on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33788/0000.jpg", "droid_molmo_sam2/images/episode_33788/0162.jpg", "droid_molmo_sam2/images/episode_33788/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the black cloth on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the black cloth on the object, execute the following phases: 1) Initial approach phase (start at [0.393, 0.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.324]). The trajectory involves 178 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33788", "trajectory_length": 178, "key_frame_indices": [ 0, 162, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33788.json" } }, { "id": "droid_molmo_sam2_episode_32317", "task": "Remove the plate from the dishwasher and put it on the counter top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32317/0000.jpg", "droid_molmo_sam2/images/episode_32317/0353.jpg", "droid_molmo_sam2/images/episode_32317/0572.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the plate from the dishwasher and put it on the counter top?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the plate from the dishwasher and put it on the counter top, execute the following phases: 1) Initial approach phase (start at [0.459, 0.935]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.849]). The trajectory involves 573 precise waypoints with total movement distance of 0.899." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32317", "trajectory_length": 573, "key_frame_indices": [ 0, 353, 572 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32317.json" } }, { "id": "droid_molmo_sam2_episode_38796", "task": "Stack the cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38796/0000.jpg", "droid_molmo_sam2/images/episode_38796/0164.jpg", "droid_molmo_sam2/images/episode_38796/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the cups?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the cups, execute the following phases: 1) Initial approach phase (start at [0.703, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.459]). The trajectory involves 167 precise waypoints with total movement distance of 1.001." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38796", "trajectory_length": 167, "key_frame_indices": [ 0, 164, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38796.json" } }, { "id": "droid_molmo_sam2_episode_3293", "task": "Close the rice cooker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3293/0000.jpg", "droid_molmo_sam2/images/episode_3293/0129.jpg", "droid_molmo_sam2/images/episode_3293/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the rice cooker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the rice cooker, execute the following phases: 1) Initial approach phase (start at [0.596, 0.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.489]). The trajectory involves 224 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3293", "trajectory_length": 224, "key_frame_indices": [ 0, 129, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3293.json" } }, { "id": "droid_molmo_sam2_episode_4606", "task": "Put the white towel in the black box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4606/0000.jpg", "droid_molmo_sam2/images/episode_4606/0164.jpg", "droid_molmo_sam2/images/episode_4606/0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel in the black box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel in the black box, execute the following phases: 1) Initial approach phase (start at [0.272, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.588]). The trajectory involves 433 precise waypoints with total movement distance of 1.032." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4606", "trajectory_length": 433, "key_frame_indices": [ 0, 164, 432 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4606.json" } }, { "id": "droid_molmo_sam2_episode_2853", "task": "Open the left door of the cabinet above the toaster oven.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2853/0000.jpg", "droid_molmo_sam2/images/episode_2853/0213.jpg", "droid_molmo_sam2/images/episode_2853/0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door of the cabinet above the toaster oven.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door of the cabinet above the toaster oven., execute the following phases: 1) Initial approach phase (start at [0.421, 0.029]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 411 precise waypoints with total movement distance of 0.803." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2853", "trajectory_length": 411, "key_frame_indices": [ 0, 213, 410 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2853.json" } }, { "id": "droid_molmo_sam2_episode_4351", "task": "Put the plastic wrapper in the basket then put 3 the yellow objects in the basket, then put a plastic wrapper in the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4351/0000.jpg", "droid_molmo_sam2/images/episode_4351/0307.jpg", "droid_molmo_sam2/images/episode_4351/0841.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plastic wrapper in the basket then put 3 the yellow objects in the basket, then put a plastic wrapper in the basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the plastic wrapper in the basket then put 3 the yellow objects in the basket, then put a plastic wrapper in the basket, execute the following phases: 1) Initial approach phase (start at [0.450, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.866]). The trajectory involves 842 precise waypoints with total movement distance of 6.296." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4351", "trajectory_length": 842, "key_frame_indices": [ 0, 307, 841 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4351.json" } }, { "id": "droid_molmo_sam2_episode_33744", "task": "Move the cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33744/0000.jpg", "droid_molmo_sam2/images/episode_33744/0190.jpg", "droid_molmo_sam2/images/episode_33744/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward, execute the following phases: 1) Initial approach phase (start at [0.660, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.415]). The trajectory involves 203 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33744", "trajectory_length": 203, "key_frame_indices": [ 0, 190, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33744.json" } }, { "id": "droid_molmo_sam2_episode_4510", "task": "Put the purple toy in the blue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4510/0000.jpg", "droid_molmo_sam2/images/episode_4510/0257.jpg", "droid_molmo_sam2/images/episode_4510/0308.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_molmo_sam2 manipulation: Put the purple toy in the blue box, execute the following phases: 1) Initial approach phase (start at [0.720, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 309 precise waypoints with total movement distance of 1.083." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4510", "trajectory_length": 309, "key_frame_indices": [ 0, 257, 308 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4510.json" } }, { "id": "droid_molmo_sam2_episode_3771", "task": "Push the button on the lid then take it off the container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3771/0000.jpg", "droid_molmo_sam2/images/episode_3771/0390.jpg", "droid_molmo_sam2/images/episode_3771/0423.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the button on the lid then take it off the container?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the button on the lid then take it off the container, execute the following phases: 1) Initial approach phase (start at [0.696, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.523]). The trajectory involves 424 precise waypoints with total movement distance of 0.979." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3771", "trajectory_length": 424, "key_frame_indices": [ 0, 390, 423 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3771.json" } }, { "id": "droid_molmo_sam2_episode_6695", "task": "Move the utensil holder to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6695/0000.jpg", "droid_molmo_sam2/images/episode_6695/0131.jpg", "droid_molmo_sam2/images/episode_6695/0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the utensil holder to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the utensil holder to the left, execute the following phases: 1) Initial approach phase (start at [0.799, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.431]). The trajectory involves 172 precise waypoints with total movement distance of 1.248." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6695", "trajectory_length": 172, "key_frame_indices": [ 0, 131, 171 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6695.json" } }, { "id": "droid_molmo_sam2_episode_35291", "task": "Pick up the square object and put it on the bridge shaped object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35291/0000.jpg", "droid_molmo_sam2/images/episode_35291/0143.jpg", "droid_molmo_sam2/images/episode_35291/0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the square object and put it on the bridge shaped object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the square object and put it on the bridge shaped object, execute the following phases: 1) Initial approach phase (start at [0.619, 0.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.433]). The trajectory involves 211 precise waypoints with total movement distance of 0.603." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35291", "trajectory_length": 211, "key_frame_indices": [ 0, 143, 210 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35291.json" } }, { "id": "droid_molmo_sam2_episode_37085", "task": "Slide the faucet spout to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37085/0000.jpg", "droid_molmo_sam2/images/episode_37085/0160.jpg", "droid_molmo_sam2/images/episode_37085/0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the faucet spout to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the faucet spout to the right, execute the following phases: 1) Initial approach phase (start at [0.556, 0.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.271]). The trajectory involves 259 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37085", "trajectory_length": 259, "key_frame_indices": [ 0, 160, 258 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37085.json" } }, { "id": "droid_molmo_sam2_episode_31103", "task": "Fold the green towel from left to right then bottom to top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31103/0000.jpg", "droid_molmo_sam2/images/episode_31103/0296.jpg", "droid_molmo_sam2/images/episode_31103/0361.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the green towel from left to right then bottom to top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the green towel from left to right then bottom to top, execute the following phases: 1) Initial approach phase (start at [0.513, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.594]). The trajectory involves 362 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31103", "trajectory_length": 362, "key_frame_indices": [ 0, 296, 361 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31103.json" } }, { "id": "droid_molmo_sam2_episode_2060", "task": "Unfold the towel on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2060/0000.jpg", "droid_molmo_sam2/images/episode_2060/0106.jpg", "droid_molmo_sam2/images/episode_2060/0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.657, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.693]). The trajectory involves 242 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2060", "trajectory_length": 242, "key_frame_indices": [ 0, 106, 241 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2060.json" } }, { "id": "droid_molmo_sam2_episode_30948", "task": "Open the left door of the second upper cabinet from the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30948/0000.jpg", "droid_molmo_sam2/images/episode_30948/0244.jpg", "droid_molmo_sam2/images/episode_30948/0428.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door of the second upper cabinet from the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door of the second upper cabinet from the left, execute the following phases: 1) Initial approach phase (start at [0.540, 0.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.525]). The trajectory involves 429 precise waypoints with total movement distance of 0.865." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30948", "trajectory_length": 429, "key_frame_indices": [ 0, 244, 428 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30948.json" } }, { "id": "droid_molmo_sam2_episode_31178", "task": "move the item and place it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31178/0000.jpg", "droid_molmo_sam2/images/episode_31178/0167.jpg", "droid_molmo_sam2/images/episode_31178/0251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: move the item and place it in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: move the item and place it in the sink, execute the following phases: 1) Initial approach phase (start at [0.394, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.963]). The trajectory involves 252 precise waypoints with total movement distance of 0.514." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31178", "trajectory_length": 252, "key_frame_indices": [ 0, 167, 251 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31178.json" } }, { "id": "droid_molmo_sam2_episode_246", "task": "Use the white and red towel to wipe the table top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_246/0000.jpg", "droid_molmo_sam2/images/episode_246/0256.jpg", "droid_molmo_sam2/images/episode_246/0376.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white and red towel to wipe the table top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white and red towel to wipe the table top, execute the following phases: 1) Initial approach phase (start at [0.492, 0.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.546]). The trajectory involves 377 precise waypoints with total movement distance of 2.880." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_246", "trajectory_length": 377, "key_frame_indices": [ 0, 256, 376 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_246.json" } }, { "id": "droid_molmo_sam2_episode_35108", "task": "Lay the towel out on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35108/0000.jpg", "droid_molmo_sam2/images/episode_35108/0412.jpg", "droid_molmo_sam2/images/episode_35108/0515.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lay the towel out on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Lay the towel out on the countertop, execute the following phases: 1) Initial approach phase (start at [0.576, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.613]). The trajectory involves 516 precise waypoints with total movement distance of 1.151." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35108", "trajectory_length": 516, "key_frame_indices": [ 0, 412, 515 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35108.json" } }, { "id": "droid_molmo_sam2_episode_35737", "task": "Take the lid from the black pot and put it on the stove", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35737/0000.jpg", "droid_molmo_sam2/images/episode_35737/0180.jpg", "droid_molmo_sam2/images/episode_35737/0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid from the black pot and put it on the stove?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid from the black pot and put it on the stove, execute the following phases: 1) Initial approach phase (start at [0.709, 0.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.558]). The trajectory involves 245 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35737", "trajectory_length": 245, "key_frame_indices": [ 0, 180, 244 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35737.json" } }, { "id": "droid_molmo_sam2_episode_3690", "task": "Put the purple toy in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3690/0000.jpg", "droid_molmo_sam2/images/episode_3690/0126.jpg", "droid_molmo_sam2/images/episode_3690/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple toy in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple toy in the bowl, execute the following phases: 1) Initial approach phase (start at [0.381, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.446]). The trajectory involves 134 precise waypoints with total movement distance of 0.650." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3690", "trajectory_length": 134, "key_frame_indices": [ 0, 126, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3690.json" } }, { "id": "droid_molmo_sam2_episode_884", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_884/0000.jpg", "droid_molmo_sam2/images/episode_884/0177.jpg", "droid_molmo_sam2/images/episode_884/0204.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 [0.624, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.458]). The trajectory involves 205 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_884", "trajectory_length": 205, "key_frame_indices": [ 0, 177, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_884.json" } }, { "id": "droid_molmo_sam2_episode_7351", "task": "Move the black and white mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7351/0000.jpg", "droid_molmo_sam2/images/episode_7351/0147.jpg", "droid_molmo_sam2/images/episode_7351/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black and white mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black and white mug to the right, execute the following phases: 1) Initial approach phase (start at [0.486, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.661]). The trajectory involves 216 precise waypoints with total movement distance of 0.549." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7351", "trajectory_length": 216, "key_frame_indices": [ 0, 147, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7351.json" } }, { "id": "droid_molmo_sam2_episode_610", "task": "Put the green cube inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_610/0000.jpg", "droid_molmo_sam2/images/episode_610/0111.jpg", "droid_molmo_sam2/images/episode_610/0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green cube inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green cube inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.479, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.575]). The trajectory involves 184 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_610", "trajectory_length": 184, "key_frame_indices": [ 0, 111, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_610.json" } }, { "id": "droid_molmo_sam2_episode_6270", "task": "Open the top cabinet on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6270/0000.jpg", "droid_molmo_sam2/images/episode_6270/0245.jpg", "droid_molmo_sam2/images/episode_6270/0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top cabinet on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top cabinet on the left, execute the following phases: 1) Initial approach phase (start at [0.345, 0.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.560]). The trajectory involves 264 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6270", "trajectory_length": 264, "key_frame_indices": [ 0, 245, 263 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6270.json" } }, { "id": "droid_molmo_sam2_episode_33153", "task": "Put the blue cup in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33153/0000.jpg", "droid_molmo_sam2/images/episode_33153/0193.jpg", "droid_molmo_sam2/images/episode_33153/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cup in the sink, execute the following phases: 1) Initial approach phase (start at [0.631, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 209 precise waypoints with total movement distance of 0.850." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33153", "trajectory_length": 209, "key_frame_indices": [ 0, 193, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33153.json" } }, { "id": "droid_molmo_sam2_episode_1846", "task": "Move the cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1846/0000.jpg", "droid_molmo_sam2/images/episode_1846/0125.jpg", "droid_molmo_sam2/images/episode_1846/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward, execute the following phases: 1) Initial approach phase (start at [0.609, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.591]). The trajectory involves 159 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1846", "trajectory_length": 159, "key_frame_indices": [ 0, 125, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1846.json" } }, { "id": "droid_molmo_sam2_episode_33494", "task": "Press on the handwash bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33494/0000.jpg", "droid_molmo_sam2/images/episode_33494/0166.jpg", "droid_molmo_sam2/images/episode_33494/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press on the handwash bottle?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press on the handwash bottle, execute the following phases: 1) Initial approach phase (start at [0.352, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.898]). The trajectory involves 197 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33494", "trajectory_length": 197, "key_frame_indices": [ 0, 166, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33494.json" } }, { "id": "droid_molmo_sam2_episode_3198", "task": "Put the pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3198/0000.jpg", "droid_molmo_sam2/images/episode_3198/0266.jpg", "droid_molmo_sam2/images/episode_3198/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.759, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.552]). The trajectory involves 305 precise waypoints with total movement distance of 2.249." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3198", "trajectory_length": 305, "key_frame_indices": [ 0, 266, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3198.json" } }, { "id": "droid_molmo_sam2_episode_6937", "task": "Place the lid of the jar on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6937/0000.jpg", "droid_molmo_sam2/images/episode_6937/0116.jpg", "droid_molmo_sam2/images/episode_6937/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid of the jar on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid of the jar on the table, execute the following phases: 1) Initial approach phase (start at [0.479, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.676]). The trajectory involves 168 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6937", "trajectory_length": 168, "key_frame_indices": [ 0, 116, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6937.json" } }, { "id": "droid_molmo_sam2_episode_3762", "task": "Pour the contents in the container into the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3762/0000.jpg", "droid_molmo_sam2/images/episode_3762/0503.jpg", "droid_molmo_sam2/images/episode_3762/0594.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the container into the bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the container into the bowl., execute the following phases: 1) Initial approach phase (start at [0.589, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.481]). The trajectory involves 595 precise waypoints with total movement distance of 1.740." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3762", "trajectory_length": 595, "key_frame_indices": [ 0, 503, 594 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3762.json" } }, { "id": "droid_molmo_sam2_episode_7154", "task": "Close the iPad on the bed.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7154/0000.jpg", "droid_molmo_sam2/images/episode_7154/0169.jpg", "droid_molmo_sam2/images/episode_7154/0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the iPad on the bed.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the iPad on the bed., execute the following phases: 1) Initial approach phase (start at [0.539, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.635]). The trajectory involves 206 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7154", "trajectory_length": 206, "key_frame_indices": [ 0, 169, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7154.json" } }, { "id": "droid_molmo_sam2_episode_1957", "task": "Unfold the green cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1957/0000.jpg", "droid_molmo_sam2/images/episode_1957/0089.jpg", "droid_molmo_sam2/images/episode_1957/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the green cloth, execute the following phases: 1) Initial approach phase (start at [0.595, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.494]). The trajectory involves 125 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1957", "trajectory_length": 125, "key_frame_indices": [ 0, 89, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1957.json" } }, { "id": "droid_molmo_sam2_episode_31631", "task": "Place the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31631/0000.jpg", "droid_molmo_sam2/images/episode_31631/0103.jpg", "droid_molmo_sam2/images/episode_31631/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.233, 0.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.540]). The trajectory involves 130 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31631", "trajectory_length": 130, "key_frame_indices": [ 0, 103, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31631.json" } }, { "id": "droid_molmo_sam2_episode_36435", "task": "Pick up the orange pack and put it on the bottom shelf of the open cabinet then remove the blue and orange packs from the cabinet and put them on the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36435/0000.jpg", "droid_molmo_sam2/images/episode_36435/0441.jpg", "droid_molmo_sam2/images/episode_36435/0496.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange pack and put it on the bottom shelf of the open cabinet then remove the blue and orange packs from the cabinet and put them on the counter.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange pack and put it on the bottom shelf of the open cabinet then remove the blue and orange packs from the cabinet and put them on the counter., execute the following phases: 1) Initial approach phase (start at [0.633, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.865]). The trajectory involves 497 precise waypoints with total movement distance of 1.514." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36435", "trajectory_length": 497, "key_frame_indices": [ 0, 441, 496 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36435.json" } }, { "id": "droid_molmo_sam2_episode_38262", "task": "Get the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38262/0000.jpg", "droid_molmo_sam2/images/episode_38262/0108.jpg", "droid_molmo_sam2/images/episode_38262/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.519, 0.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.443]). The trajectory involves 174 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38262", "trajectory_length": 174, "key_frame_indices": [ 0, 108, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38262.json" } }, { "id": "droid_molmo_sam2_episode_31800", "task": "Pick the garment on the black chair and place it on the sofa", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31800/0000.jpg", "droid_molmo_sam2/images/episode_31800/0119.jpg", "droid_molmo_sam2/images/episode_31800/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the garment on the black chair and place it on the sofa?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the garment on the black chair and place it on the sofa, execute the following phases: 1) Initial approach phase (start at [0.732, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.889, 0.627]). The trajectory involves 156 precise waypoints with total movement distance of 3.782." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31800", "trajectory_length": 156, "key_frame_indices": [ 0, 119, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31800.json" } }, { "id": "droid_molmo_sam2_episode_30560", "task": "Pick up the white cup and move it to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30560/0000.jpg", "droid_molmo_sam2/images/episode_30560/0122.jpg", "droid_molmo_sam2/images/episode_30560/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cup and move it to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the white cup and move it to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.631, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.934, 0.645]). The trajectory involves 183 precise waypoints with total movement distance of 0.740." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30560", "trajectory_length": 183, "key_frame_indices": [ 0, 122, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30560.json" } }, { "id": "droid_molmo_sam2_episode_2729", "task": "Close the open drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2729/0000.jpg", "droid_molmo_sam2/images/episode_2729/0156.jpg", "droid_molmo_sam2/images/episode_2729/0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer., execute the following phases: 1) Initial approach phase (start at [0.642, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.697]). The trajectory involves 262 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2729", "trajectory_length": 262, "key_frame_indices": [ 0, 156, 261 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2729.json" } }, { "id": "droid_molmo_sam2_episode_35264", "task": "Move the objects from the bowl on the right and put them into the bowl on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35264/0000.jpg", "droid_molmo_sam2/images/episode_35264/0096.jpg", "droid_molmo_sam2/images/episode_35264/0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the objects from the bowl on the right and put them into the bowl on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the objects from the bowl on the right and put them into the bowl on the left, execute the following phases: 1) Initial approach phase (start at [0.707, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.604]). The trajectory involves 295 precise waypoints with total movement distance of 1.371." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35264", "trajectory_length": 295, "key_frame_indices": [ 0, 96, 294 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35264.json" } }, { "id": "droid_molmo_sam2_episode_30868", "task": "Remove the black marker from the silver pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30868/0000.jpg", "droid_molmo_sam2/images/episode_30868/0140.jpg", "droid_molmo_sam2/images/episode_30868/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black marker from the silver pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black marker from the silver pot, execute the following phases: 1) Initial approach phase (start at [0.499, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.459]). The trajectory involves 212 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30868", "trajectory_length": 212, "key_frame_indices": [ 0, 140, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30868.json" } }, { "id": "droid_molmo_sam2_episode_4120", "task": "Put the snack bar in the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4120/0000.jpg", "droid_molmo_sam2/images/episode_4120/0279.jpg", "droid_molmo_sam2/images/episode_4120/0303.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_molmo_sam2 manipulation: Put the snack bar in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.422, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 304 precise waypoints with total movement distance of 1.706." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4120", "trajectory_length": 304, "key_frame_indices": [ 0, 279, 303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4120.json" } }, { "id": "droid_molmo_sam2_episode_6556", "task": "Put the orange packet inside the sink.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6556/0000.jpg", "droid_molmo_sam2/images/episode_6556/0146.jpg", "droid_molmo_sam2/images/episode_6556/0183.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_molmo_sam2 manipulation: Put the orange packet inside the sink., execute the following phases: 1) Initial approach phase (start at [0.343, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.923]). The trajectory involves 184 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6556", "trajectory_length": 184, "key_frame_indices": [ 0, 146, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6556.json" } }, { "id": "droid_molmo_sam2_episode_32521", "task": "Take the marker from the white cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32521/0000.jpg", "droid_molmo_sam2/images/episode_32521/0092.jpg", "droid_molmo_sam2/images/episode_32521/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the white cup and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the white cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.639, 0.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.839, 0.481]). The trajectory involves 142 precise waypoints with total movement distance of 0.775." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32521", "trajectory_length": 142, "key_frame_indices": [ 0, 92, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32521.json" } }, { "id": "droid_molmo_sam2_episode_690", "task": "Uncover the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_690/0000.jpg", "droid_molmo_sam2/images/episode_690/0122.jpg", "droid_molmo_sam2/images/episode_690/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Uncover the pot, execute the following phases: 1) Initial approach phase (start at [0.645, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 0.650]). The trajectory involves 183 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_690", "trajectory_length": 183, "key_frame_indices": [ 0, 122, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_690.json" } }, { "id": "droid_molmo_sam2_episode_34464", "task": "Remove the marker from the cup and place it on the table and move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34464/0000.jpg", "droid_molmo_sam2/images/episode_34464/0001.jpg", "droid_molmo_sam2/images/episode_34464/0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and place it on the table and move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and place it on the table and move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.630, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.513]). The trajectory involves 382 precise waypoints with total movement distance of 1.012." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34464", "trajectory_length": 382, "key_frame_indices": [ 0, 1, 381 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34464.json" } }, { "id": "droid_molmo_sam2_episode_606", "task": "Place the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_606/0000.jpg", "droid_molmo_sam2/images/episode_606/0103.jpg", "droid_molmo_sam2/images/episode_606/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.585, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.497]). The trajectory involves 121 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_606", "trajectory_length": 121, "key_frame_indices": [ 0, 103, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_606.json" } }, { "id": "droid_molmo_sam2_episode_39672", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39672/0000.jpg", "droid_molmo_sam2/images/episode_39672/0098.jpg", "droid_molmo_sam2/images/episode_39672/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.600, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.857]). The trajectory involves 118 precise waypoints with total movement distance of 0.819." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39672", "trajectory_length": 118, "key_frame_indices": [ 0, 98, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39672.json" } }, { "id": "droid_molmo_sam2_episode_31149", "task": "Pull out the faucet head", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31149/0000.jpg", "droid_molmo_sam2/images/episode_31149/0140.jpg", "droid_molmo_sam2/images/episode_31149/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out the faucet head?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out the faucet head, execute the following phases: 1) Initial approach phase (start at [0.815, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.809, 0.588]). The trajectory involves 196 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31149", "trajectory_length": 196, "key_frame_indices": [ 0, 140, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31149.json" } }, { "id": "droid_molmo_sam2_episode_6520", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6520/0000.jpg", "droid_molmo_sam2/images/episode_6520/0093.jpg", "droid_molmo_sam2/images/episode_6520/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.547, 0.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.456]). The trajectory involves 152 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6520", "trajectory_length": 152, "key_frame_indices": [ 0, 93, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6520.json" } }, { "id": "droid_molmo_sam2_episode_37525", "task": "Hang the orange and peach clothes in the basket on the back of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37525/0000.jpg", "droid_molmo_sam2/images/episode_37525/0247.jpg", "droid_molmo_sam2/images/episode_37525/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the orange and peach clothes in the basket on the back of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the orange and peach clothes in the basket on the back of the chair, execute the following phases: 1) Initial approach phase (start at [0.709, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.907, 0.284]). The trajectory involves 273 precise waypoints with total movement distance of 1.973." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37525", "trajectory_length": 273, "key_frame_indices": [ 0, 247, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37525.json" } }, { "id": "droid_molmo_sam2_episode_3622", "task": "Fold the towel four times over", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3622/0000.jpg", "droid_molmo_sam2/images/episode_3622/0207.jpg", "droid_molmo_sam2/images/episode_3622/0474.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel four times over?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel four times over, execute the following phases: 1) Initial approach phase (start at [0.568, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.520]). The trajectory involves 475 precise waypoints with total movement distance of 1.143." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3622", "trajectory_length": 475, "key_frame_indices": [ 0, 207, 474 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3622.json" } }, { "id": "droid_molmo_sam2_episode_3011", "task": "Move the red lid to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3011/0000.jpg", "droid_molmo_sam2/images/episode_3011/0081.jpg", "droid_molmo_sam2/images/episode_3011/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red lid to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red lid to the right., execute the following phases: 1) Initial approach phase (start at [0.416, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.552]). The trajectory involves 263 precise waypoints with total movement distance of 3.446." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3011", "trajectory_length": 263, "key_frame_indices": [ 0, 81, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3011.json" } }, { "id": "droid_molmo_sam2_episode_4421", "task": "Close the bottom drawer of the beige file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4421/0000.jpg", "droid_molmo_sam2/images/episode_4421/0084.jpg", "droid_molmo_sam2/images/episode_4421/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the beige file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the beige file cabinet, execute the following phases: 1) Initial approach phase (start at [0.600, 0.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.565]). The trajectory involves 111 precise waypoints with total movement distance of 0.825." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4421", "trajectory_length": 111, "key_frame_indices": [ 0, 84, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4421.json" } }, { "id": "droid_molmo_sam2_episode_31004", "task": "Use the green towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31004/0000.jpg", "droid_molmo_sam2/images/episode_31004/0183.jpg", "droid_molmo_sam2/images/episode_31004/0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the green towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the green towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.593, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.757]). The trajectory involves 277 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31004", "trajectory_length": 277, "key_frame_indices": [ 0, 183, 276 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31004.json" } }, { "id": "droid_molmo_sam2_episode_3756", "task": "Move the bowl to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3756/0000.jpg", "droid_molmo_sam2/images/episode_3756/0157.jpg", "droid_molmo_sam2/images/episode_3756/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.452, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 216 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3756", "trajectory_length": 216, "key_frame_indices": [ 0, 157, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3756.json" } }, { "id": "droid_molmo_sam2_episode_34200", "task": "Put the blue shirt on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34200/0000.jpg", "droid_molmo_sam2/images/episode_34200/0121.jpg", "droid_molmo_sam2/images/episode_34200/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue shirt on the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue shirt on the chair, execute the following phases: 1) Initial approach phase (start at [0.698, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.676]). The trajectory involves 226 precise waypoints with total movement distance of 1.181." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34200", "trajectory_length": 226, "key_frame_indices": [ 0, 121, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34200.json" } }, { "id": "droid_molmo_sam2_episode_3466", "task": "Pull the cardboard box forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3466/0000.jpg", "droid_molmo_sam2/images/episode_3466/0139.jpg", "droid_molmo_sam2/images/episode_3466/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the cardboard box forward?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the cardboard box forward, execute the following phases: 1) Initial approach phase (start at [0.513, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.812]). The trajectory involves 173 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3466", "trajectory_length": 173, "key_frame_indices": [ 0, 139, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3466.json" } }, { "id": "droid_molmo_sam2_episode_31558", "task": "Pour the things in the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31558/0000.jpg", "droid_molmo_sam2/images/episode_31558/0099.jpg", "droid_molmo_sam2/images/episode_31558/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the things in the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.541, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.540]). The trajectory involves 127 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31558", "trajectory_length": 127, "key_frame_indices": [ 0, 99, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31558.json" } }, { "id": "droid_molmo_sam2_episode_37344", "task": "Hang the blue cloth on the footboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37344/0000.jpg", "droid_molmo_sam2/images/episode_37344/0111.jpg", "droid_molmo_sam2/images/episode_37344/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the blue cloth on the footboard?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the blue cloth on the footboard, execute the following phases: 1) Initial approach phase (start at [0.632, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.746]). The trajectory involves 196 precise waypoints with total movement distance of 0.684." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37344", "trajectory_length": 196, "key_frame_indices": [ 0, 111, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37344.json" } }, { "id": "droid_molmo_sam2_episode_635", "task": "Put the carrot plush toy in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_635/0000.jpg", "droid_molmo_sam2/images/episode_635/0108.jpg", "droid_molmo_sam2/images/episode_635/0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy in the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plush toy in the pot, execute the following phases: 1) Initial approach phase (start at [0.538, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.711]). The trajectory involves 146 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_635", "trajectory_length": 146, "key_frame_indices": [ 0, 108, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_635.json" } }, { "id": "droid_molmo_sam2_episode_1066", "task": "Move the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1066/0000.jpg", "droid_molmo_sam2/images/episode_1066/0053.jpg", "droid_molmo_sam2/images/episode_1066/0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.573, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.686]). The trajectory involves 217 precise waypoints with total movement distance of 0.938." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1066", "trajectory_length": 217, "key_frame_indices": [ 0, 53, 216 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1066.json" } }, { "id": "droid_molmo_sam2_episode_35219", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35219/0000.jpg", "droid_molmo_sam2/images/episode_35219/0145.jpg", "droid_molmo_sam2/images/episode_35219/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.524, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.547]). The trajectory involves 196 precise waypoints with total movement distance of 1.136." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35219", "trajectory_length": 196, "key_frame_indices": [ 0, 145, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35219.json" } }, { "id": "droid_molmo_sam2_episode_32319", "task": "Move the mug slightly to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32319/0000.jpg", "droid_molmo_sam2/images/episode_32319/0106.jpg", "droid_molmo_sam2/images/episode_32319/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.688, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.432]). The trajectory involves 169 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32319", "trajectory_length": 169, "key_frame_indices": [ 0, 106, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32319.json" } }, { "id": "droid_molmo_sam2_episode_33561", "task": "Pull the carton box under the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33561/0000.jpg", "droid_molmo_sam2/images/episode_33561/0154.jpg", "droid_molmo_sam2/images/episode_33561/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the carton box under the drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the carton box under the drawer, execute the following phases: 1) Initial approach phase (start at [0.456, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.792]). The trajectory involves 169 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33561", "trajectory_length": 169, "key_frame_indices": [ 0, 154, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33561.json" } }, { "id": "droid_molmo_sam2_episode_33712", "task": "Push the storage box into the black and white cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33712/0000.jpg", "droid_molmo_sam2/images/episode_33712/0109.jpg", "droid_molmo_sam2/images/episode_33712/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the storage box into the black and white cabinet?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the storage box into the black and white cabinet, execute the following phases: 1) Initial approach phase (start at [0.478, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.674]). The trajectory involves 122 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33712", "trajectory_length": 122, "key_frame_indices": [ 0, 109, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33712.json" } }, { "id": "droid_molmo_sam2_episode_32068", "task": "Move the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32068/0000.jpg", "droid_molmo_sam2/images/episode_32068/0068.jpg", "droid_molmo_sam2/images/episode_32068/0428.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.469, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.591]). The trajectory involves 429 precise waypoints with total movement distance of 3.847." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32068", "trajectory_length": 429, "key_frame_indices": [ 0, 68, 428 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32068.json" } }, { "id": "droid_molmo_sam2_episode_3132", "task": "Move the grey towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3132/0000.jpg", "droid_molmo_sam2/images/episode_3132/0077.jpg", "droid_molmo_sam2/images/episode_3132/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the left, execute the following phases: 1) Initial approach phase (start at [0.623, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.502]). The trajectory involves 110 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3132", "trajectory_length": 110, "key_frame_indices": [ 0, 77, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3132.json" } }, { "id": "droid_molmo_sam2_episode_32563", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32563/0000.jpg", "droid_molmo_sam2/images/episode_32563/0088.jpg", "droid_molmo_sam2/images/episode_32563/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.580, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.600]). The trajectory involves 134 precise waypoints with total movement distance of 0.052." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32563", "trajectory_length": 134, "key_frame_indices": [ 0, 88, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32563.json" } }, { "id": "droid_molmo_sam2_episode_31526", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31526/0000.jpg", "droid_molmo_sam2/images/episode_31526/0072.jpg", "droid_molmo_sam2/images/episode_31526/0118.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.624, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.654]). The trajectory involves 119 precise waypoints with total movement distance of 0.886." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31526", "trajectory_length": 119, "key_frame_indices": [ 0, 72, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31526.json" } }, { "id": "droid_molmo_sam2_episode_4169", "task": "Move the mouse", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4169/0000.jpg", "droid_molmo_sam2/images/episode_4169/0764.jpg", "droid_molmo_sam2/images/episode_4169/0832.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mouse?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mouse, execute the following phases: 1) Initial approach phase (start at [0.825, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.822]). The trajectory involves 833 precise waypoints with total movement distance of 1.613." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4169", "trajectory_length": 833, "key_frame_indices": [ 0, 764, 832 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4169.json" } }, { "id": "droid_molmo_sam2_episode_33980", "task": "Pick up the wallet from the table and put it in the black bag.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33980/0000.jpg", "droid_molmo_sam2/images/episode_33980/0400.jpg", "droid_molmo_sam2/images/episode_33980/0459.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the wallet from the table and put it in the black bag.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the wallet from the table and put it in the black bag., execute the following phases: 1) Initial approach phase (start at [0.626, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.422]). The trajectory involves 460 precise waypoints with total movement distance of 1.664." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33980", "trajectory_length": 460, "key_frame_indices": [ 0, 400, 459 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33980.json" } }, { "id": "droid_molmo_sam2_episode_34900", "task": "Put a rectangular block on the tower", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34900/0000.jpg", "droid_molmo_sam2/images/episode_34900/0106.jpg", "droid_molmo_sam2/images/episode_34900/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a rectangular block on the tower?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put a rectangular block on the tower, execute the following phases: 1) Initial approach phase (start at [0.624, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.395]). The trajectory involves 169 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34900", "trajectory_length": 169, "key_frame_indices": [ 0, 106, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34900.json" } }, { "id": "droid_molmo_sam2_episode_7294", "task": "Open the cabinet door on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7294/0000.jpg", "droid_molmo_sam2/images/episode_7294/0004.jpg", "droid_molmo_sam2/images/episode_7294/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cabinet door on the left?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cabinet door on the left, execute the following phases: 1) Initial approach phase (start at [0.511, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.476]). The trajectory involves 132 precise waypoints with total movement distance of 1.149." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7294", "trajectory_length": 132, "key_frame_indices": [ 0, 4, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7294.json" } }, { "id": "droid_molmo_sam2_episode_266", "task": "Move the bowl to the right and put the rubik's cube inside it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_266/0000.jpg", "droid_molmo_sam2/images/episode_266/0214.jpg", "droid_molmo_sam2/images/episode_266/0677.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right and put the rubik's cube inside it?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right and put the rubik's cube inside it, execute the following phases: 1) Initial approach phase (start at [0.486, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.513]). The trajectory involves 678 precise waypoints with total movement distance of 0.861." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_266", "trajectory_length": 678, "key_frame_indices": [ 0, 214, 677 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_266.json" } }, { "id": "droid_molmo_sam2_episode_39783", "task": "Put the black t-shirt on the backrest of the grey chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39783/0000.jpg", "droid_molmo_sam2/images/episode_39783/0132.jpg", "droid_molmo_sam2/images/episode_39783/0191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black t-shirt on the backrest of the grey chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black t-shirt on the backrest of the grey chair, execute the following phases: 1) Initial approach phase (start at [0.664, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.639]). The trajectory involves 192 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39783", "trajectory_length": 192, "key_frame_indices": [ 0, 132, 191 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39783.json" } }, { "id": "droid_molmo_sam2_episode_30684", "task": "Pick up the orange cup from the table and put it in the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30684/0000.jpg", "droid_molmo_sam2/images/episode_30684/0049.jpg", "droid_molmo_sam2/images/episode_30684/0072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange cup from the table and put it in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange cup from the table and put it in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.432, 0.692]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.547]). The trajectory involves 73 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30684", "trajectory_length": 73, "key_frame_indices": [ 0, 49, 72 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30684.json" } }, { "id": "droid_molmo_sam2_episode_3896", "task": "Put the orange chip in the connect four game", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3896/0000.jpg", "droid_molmo_sam2/images/episode_3896/0092.jpg", "droid_molmo_sam2/images/episode_3896/0418.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange chip in the connect four game?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange chip in the connect four game, execute the following phases: 1) Initial approach phase (start at [0.621, 0.823]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.828]). The trajectory involves 419 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3896", "trajectory_length": 419, "key_frame_indices": [ 0, 92, 418 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3896.json" } }, { "id": "droid_molmo_sam2_episode_33926", "task": "Pick up the glass lid from the table and put it on the black pot.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33926/0000.jpg", "droid_molmo_sam2/images/episode_33926/0359.jpg", "droid_molmo_sam2/images/episode_33926/0422.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the glass lid from the table and put it on the black pot.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the glass lid from the table and put it on the black pot., execute the following phases: 1) Initial approach phase (start at [0.806, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.555]). The trajectory involves 423 precise waypoints with total movement distance of 1.084." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33926", "trajectory_length": 423, "key_frame_indices": [ 0, 359, 422 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33926.json" } }, { "id": "droid_molmo_sam2_episode_2531", "task": "Empty the contents of the cup in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2531/0000.jpg", "droid_molmo_sam2/images/episode_2531/0238.jpg", "droid_molmo_sam2/images/episode_2531/0424.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Empty the contents of the cup in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Empty the contents of the cup in the sink, execute the following phases: 1) Initial approach phase (start at [0.507, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 425 precise waypoints with total movement distance of 0.951." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2531", "trajectory_length": 425, "key_frame_indices": [ 0, 238, 424 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2531.json" } }, { "id": "droid_molmo_sam2_episode_3688", "task": "Unfold the towel on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3688/0000.jpg", "droid_molmo_sam2/images/episode_3688/0430.jpg", "droid_molmo_sam2/images/episode_3688/0487.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel on the table., execute the following phases: 1) Initial approach phase (start at [0.573, 0.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.686]). The trajectory involves 488 precise waypoints with total movement distance of 0.812." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3688", "trajectory_length": 488, "key_frame_indices": [ 0, 430, 487 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3688.json" } }, { "id": "droid_molmo_sam2_episode_32095", "task": "Take the marker out of the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32095/0000.jpg", "droid_molmo_sam2/images/episode_32095/0135.jpg", "droid_molmo_sam2/images/episode_32095/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.582, 0.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.554]). The trajectory involves 188 precise waypoints with total movement distance of 0.573." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32095", "trajectory_length": 188, "key_frame_indices": [ 0, 135, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32095.json" } }, { "id": "droid_molmo_sam2_episode_3712", "task": "Move the dish rack 90 degrees", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3712/0000.jpg", "droid_molmo_sam2/images/episode_3712/0209.jpg", "droid_molmo_sam2/images/episode_3712/0406.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the dish rack 90 degrees?" }, { "from": "gpt", "value": "To complete this repositioning: Move the dish rack 90 degrees, execute the following phases: 1) Initial approach phase (start at [0.512, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.632]). The trajectory involves 407 precise waypoints with total movement distance of 2.977." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3712", "trajectory_length": 407, "key_frame_indices": [ 0, 209, 406 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3712.json" } }, { "id": "droid_molmo_sam2_episode_35090", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35090/0000.jpg", "droid_molmo_sam2/images/episode_35090/0428.jpg", "droid_molmo_sam2/images/episode_35090/0593.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.662, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.676]). The trajectory involves 594 precise waypoints with total movement distance of 0.870." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35090", "trajectory_length": 594, "key_frame_indices": [ 0, 428, 593 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35090.json" } }, { "id": "droid_molmo_sam2_episode_7368", "task": "Spread and clothes on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7368/0000.jpg", "droid_molmo_sam2/images/episode_7368/0252.jpg", "droid_molmo_sam2/images/episode_7368/0999.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread and clothes on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread and clothes on the table, execute the following phases: 1) Initial approach phase (start at [0.454, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.872]). The trajectory involves 1000 precise waypoints with total movement distance of 3.271." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7368", "trajectory_length": 1000, "key_frame_indices": [ 0, 252, 999 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7368.json" } }, { "id": "droid_molmo_sam2_episode_7065", "task": "Take the marker from the green cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7065/0000.jpg", "droid_molmo_sam2/images/episode_7065/0133.jpg", "droid_molmo_sam2/images/episode_7065/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the green cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the green cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.716, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.527]). The trajectory involves 212 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7065", "trajectory_length": 212, "key_frame_indices": [ 0, 133, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7065.json" } }, { "id": "droid_molmo_sam2_episode_38651", "task": "Move the grey towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38651/0000.jpg", "droid_molmo_sam2/images/episode_38651/0095.jpg", "droid_molmo_sam2/images/episode_38651/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the right, execute the following phases: 1) Initial approach phase (start at [0.531, 0.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.640]). The trajectory involves 107 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38651", "trajectory_length": 107, "key_frame_indices": [ 0, 95, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38651.json" } }, { "id": "droid_molmo_sam2_episode_39349", "task": "Hang the cloth on the wooden stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39349/0000.jpg", "droid_molmo_sam2/images/episode_39349/0143.jpg", "droid_molmo_sam2/images/episode_39349/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the wooden stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the wooden stand, execute the following phases: 1) Initial approach phase (start at [0.373, 0.873]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.582]). The trajectory involves 153 precise waypoints with total movement distance of 1.198." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39349", "trajectory_length": 153, "key_frame_indices": [ 0, 143, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39349.json" } }, { "id": "droid_molmo_sam2_episode_34195", "task": "Remove the red straw from the can and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34195/0000.jpg", "droid_molmo_sam2/images/episode_34195/0238.jpg", "droid_molmo_sam2/images/episode_34195/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red straw from the can and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red straw from the can and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.509, 0.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.539]). The trajectory involves 253 precise waypoints with total movement distance of 0.829." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34195", "trajectory_length": 253, "key_frame_indices": [ 0, 238, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34195.json" } }, { "id": "droid_molmo_sam2_episode_814", "task": "Move the green cloth slightly to the left on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_814/0000.jpg", "droid_molmo_sam2/images/episode_814/0079.jpg", "droid_molmo_sam2/images/episode_814/0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green cloth slightly to the left on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green cloth slightly to the left on the table, execute the following phases: 1) Initial approach phase (start at [0.499, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.549]). The trajectory involves 108 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_814", "trajectory_length": 108, "key_frame_indices": [ 0, 79, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_814.json" } }, { "id": "droid_molmo_sam2_episode_7108", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7108/0000.jpg", "droid_molmo_sam2/images/episode_7108/0079.jpg", "droid_molmo_sam2/images/episode_7108/0109.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.386, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.459]). The trajectory involves 110 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7108", "trajectory_length": 110, "key_frame_indices": [ 0, 79, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7108.json" } }, { "id": "droid_molmo_sam2_episode_4041", "task": "Move the green-white from the left to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4041/0000.jpg", "droid_molmo_sam2/images/episode_4041/0064.jpg", "droid_molmo_sam2/images/episode_4041/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green-white from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green-white from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.565, 0.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.582]). The trajectory involves 106 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4041", "trajectory_length": 106, "key_frame_indices": [ 0, 64, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4041.json" } }, { "id": "droid_molmo_sam2_episode_270", "task": "Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_270/0000.jpg", "droid_molmo_sam2/images/episode_270/0169.jpg", "droid_molmo_sam2/images/episode_270/0320.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 [0.597, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.434]). The trajectory involves 321 precise waypoints with total movement distance of 1.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_270", "trajectory_length": 321, "key_frame_indices": [ 0, 169, 320 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_270.json" } }, { "id": "droid_molmo_sam2_episode_6887", "task": "Move the bottle to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6887/0000.jpg", "droid_molmo_sam2/images/episode_6887/0133.jpg", "droid_molmo_sam2/images/episode_6887/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.525, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.670, 0.529]). The trajectory involves 190 precise waypoints with total movement distance of 0.770." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6887", "trajectory_length": 190, "key_frame_indices": [ 0, 133, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6887.json" } }, { "id": "droid_molmo_sam2_episode_39931", "task": "Push the white food pack forwards then backwards.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39931/0000.jpg", "droid_molmo_sam2/images/episode_39931/0153.jpg", "droid_molmo_sam2/images/episode_39931/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the white food pack forwards then backwards.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the white food pack forwards then backwards., execute the following phases: 1) Initial approach phase (start at [0.505, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.604]). The trajectory involves 214 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39931", "trajectory_length": 214, "key_frame_indices": [ 0, 153, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39931.json" } }, { "id": "droid_molmo_sam2_episode_6330", "task": "Take the cloth off the countertop shield and put it on the mat", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6330/0000.jpg", "droid_molmo_sam2/images/episode_6330/0068.jpg", "droid_molmo_sam2/images/episode_6330/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the cloth off the countertop shield and put it on the mat?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the cloth off the countertop shield and put it on the mat, execute the following phases: 1) Initial approach phase (start at [0.560, 0.392]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.848]). The trajectory involves 98 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6330", "trajectory_length": 98, "key_frame_indices": [ 0, 68, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6330.json" } }, { "id": "droid_molmo_sam2_episode_31314", "task": "Move the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31314/0000.jpg", "droid_molmo_sam2/images/episode_31314/0076.jpg", "droid_molmo_sam2/images/episode_31314/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap, execute the following phases: 1) Initial approach phase (start at [0.777, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 0.767]). The trajectory involves 137 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31314", "trajectory_length": 137, "key_frame_indices": [ 0, 76, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31314.json" } }, { "id": "droid_molmo_sam2_episode_32722", "task": "Pick up the medicine bottle and move it to the forward. Pick up the same bottle and move it to the right. Pick up the same bottle and move it to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32722/0000.jpg", "droid_molmo_sam2/images/episode_32722/0266.jpg", "droid_molmo_sam2/images/episode_32722/0413.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the medicine bottle and move it to the forward. Pick up the same bottle and move it to the right. Pick up the same bottle and move it to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the medicine bottle and move it to the forward. Pick up the same bottle and move it to the right. Pick up the same bottle and move it to the left., execute the following phases: 1) Initial approach phase (start at [0.486, 0.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.038, 0.109]). The trajectory involves 414 precise waypoints with total movement distance of 2.033." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32722", "trajectory_length": 414, "key_frame_indices": [ 0, 266, 413 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32722.json" } }, { "id": "droid_molmo_sam2_episode_2030", "task": "Put the red marker inside the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2030/0000.jpg", "droid_molmo_sam2/images/episode_2030/0179.jpg", "droid_molmo_sam2/images/episode_2030/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red marker inside the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.742, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.432]). The trajectory involves 202 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2030", "trajectory_length": 202, "key_frame_indices": [ 0, 179, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2030.json" } }, { "id": "droid_molmo_sam2_episode_34082", "task": "Hang the cloth on the transparent screen", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34082/0000.jpg", "droid_molmo_sam2/images/episode_34082/0142.jpg", "droid_molmo_sam2/images/episode_34082/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the transparent screen?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the transparent screen, execute the following phases: 1) Initial approach phase (start at [0.555, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.415]). The trajectory involves 201 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34082", "trajectory_length": 201, "key_frame_indices": [ 0, 142, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34082.json" } }, { "id": "droid_molmo_sam2_episode_3120", "task": "Close the top of the coffee maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3120/0000.jpg", "droid_molmo_sam2/images/episode_3120/0185.jpg", "droid_molmo_sam2/images/episode_3120/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top of the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top of the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.401, 0.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.248]). The trajectory involves 280 precise waypoints with total movement distance of 0.809." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3120", "trajectory_length": 280, "key_frame_indices": [ 0, 185, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3120.json" } }, { "id": "droid_molmo_sam2_episode_4014", "task": "change the position of object on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4014/0000.jpg", "droid_molmo_sam2/images/episode_4014/0001.jpg", "droid_molmo_sam2/images/episode_4014/0102.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_molmo_sam2 manipulation: change the position of object on the table, execute the following phases: 1) Initial approach phase (start at [0.598, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.487]). The trajectory involves 103 precise waypoints with total movement distance of 0.074." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4014", "trajectory_length": 103, "key_frame_indices": [ 0, 1, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4014.json" } }, { "id": "droid_molmo_sam2_episode_4161", "task": "Unfold the towel once from left to right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4161/0000.jpg", "droid_molmo_sam2/images/episode_4161/0181.jpg", "droid_molmo_sam2/images/episode_4161/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once from left to right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once from left to right, execute the following phases: 1) Initial approach phase (start at [0.627, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.669]). The trajectory involves 205 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4161", "trajectory_length": 205, "key_frame_indices": [ 0, 181, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4161.json" } }, { "id": "droid_molmo_sam2_episode_38176", "task": "Put the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38176/0000.jpg", "droid_molmo_sam2/images/episode_38176/0054.jpg", "droid_molmo_sam2/images/episode_38176/0082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.434, 0.676]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.535]). The trajectory involves 83 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38176", "trajectory_length": 83, "key_frame_indices": [ 0, 54, 82 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38176.json" } }, { "id": "droid_molmo_sam2_episode_30434", "task": "Pick up the cup and place it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30434/0000.jpg", "droid_molmo_sam2/images/episode_30434/0057.jpg", "droid_molmo_sam2/images/episode_30434/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup and place it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup and place it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.447, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.536]). The trajectory involves 104 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30434", "trajectory_length": 104, "key_frame_indices": [ 0, 57, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30434.json" } }, { "id": "droid_molmo_sam2_episode_36913", "task": "Fold the green cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36913/0000.jpg", "droid_molmo_sam2/images/episode_36913/0091.jpg", "droid_molmo_sam2/images/episode_36913/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the green cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the green cloth, execute the following phases: 1) Initial approach phase (start at [0.455, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.470]). The trajectory involves 152 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36913", "trajectory_length": 152, "key_frame_indices": [ 0, 91, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36913.json" } }, { "id": "droid_molmo_sam2_episode_33756", "task": "Hang the towel on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33756/0000.jpg", "droid_molmo_sam2/images/episode_33756/0159.jpg", "droid_molmo_sam2/images/episode_33756/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the towel on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the towel on the black stand, execute the following phases: 1) Initial approach phase (start at [0.490, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.283]). The trajectory involves 209 precise waypoints with total movement distance of 1.369." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33756", "trajectory_length": 209, "key_frame_indices": [ 0, 159, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33756.json" } }, { "id": "droid_molmo_sam2_episode_35588", "task": "Fold the towel in half from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35588/0000.jpg", "droid_molmo_sam2/images/episode_35588/0247.jpg", "droid_molmo_sam2/images/episode_35588/0916.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel in half from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel in half from right to left, execute the following phases: 1) Initial approach phase (start at [0.440, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.615]). The trajectory involves 917 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35588", "trajectory_length": 917, "key_frame_indices": [ 0, 247, 916 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35588.json" } }, { "id": "droid_molmo_sam2_episode_4460", "task": "Wipe the table with the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4460/0000.jpg", "droid_molmo_sam2/images/episode_4460/0092.jpg", "droid_molmo_sam2/images/episode_4460/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the towel, execute the following phases: 1) Initial approach phase (start at [0.508, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.506]). The trajectory involves 118 precise waypoints with total movement distance of 0.781." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4460", "trajectory_length": 118, "key_frame_indices": [ 0, 92, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4460.json" } }, { "id": "droid_molmo_sam2_episode_3234", "task": "Remove the white bottle from the dish rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3234/0000.jpg", "droid_molmo_sam2/images/episode_3234/0108.jpg", "droid_molmo_sam2/images/episode_3234/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white bottle from the dish rack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white bottle from the dish rack, execute the following phases: 1) Initial approach phase (start at [0.458, 0.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.329]). The trajectory involves 229 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3234", "trajectory_length": 229, "key_frame_indices": [ 0, 108, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3234.json" } }, { "id": "droid_molmo_sam2_episode_4309", "task": "Move the grey cup to the front of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4309/0000.jpg", "droid_molmo_sam2/images/episode_4309/0112.jpg", "droid_molmo_sam2/images/episode_4309/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey cup to the front of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey cup to the front of the table, execute the following phases: 1) Initial approach phase (start at [0.542, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.449]). The trajectory involves 147 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4309", "trajectory_length": 147, "key_frame_indices": [ 0, 112, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4309.json" } }, { "id": "droid_molmo_sam2_episode_3829", "task": "Pick up the cloth from the table and put it on the tripod.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3829/0000.jpg", "droid_molmo_sam2/images/episode_3829/0090.jpg", "droid_molmo_sam2/images/episode_3829/0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth from the table and put it on the tripod.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth from the table and put it on the tripod., execute the following phases: 1) Initial approach phase (start at [0.514, 0.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.057]). The trajectory involves 146 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3829", "trajectory_length": 146, "key_frame_indices": [ 0, 90, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3829.json" } }, { "id": "droid_molmo_sam2_episode_3646", "task": "Move the white mug to the left side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3646/0000.jpg", "droid_molmo_sam2/images/episode_3646/0176.jpg", "droid_molmo_sam2/images/episode_3646/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.434, 0.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.253, 0.481]). The trajectory involves 244 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3646", "trajectory_length": 244, "key_frame_indices": [ 0, 176, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3646.json" } }, { "id": "droid_molmo_sam2_episode_7126", "task": "Place the orange can north of the green cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7126/0000.jpg", "droid_molmo_sam2/images/episode_7126/0229.jpg", "droid_molmo_sam2/images/episode_7126/0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange can north of the green cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange can north of the green cup, execute the following phases: 1) Initial approach phase (start at [0.459, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.697]). The trajectory involves 241 precise waypoints with total movement distance of 0.310." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7126", "trajectory_length": 241, "key_frame_indices": [ 0, 229, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7126.json" } }, { "id": "droid_molmo_sam2_episode_6275", "task": "Remove the blue cup from the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6275/0000.jpg", "droid_molmo_sam2/images/episode_6275/0119.jpg", "droid_molmo_sam2/images/episode_6275/0337.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue cup from the drawer?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue cup from the drawer, execute the following phases: 1) Initial approach phase (start at [0.523, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.555]). The trajectory involves 338 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6275", "trajectory_length": 338, "key_frame_indices": [ 0, 119, 337 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6275.json" } }, { "id": "droid_molmo_sam2_episode_35700", "task": "Put the beetroot plushie in the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35700/0000.jpg", "droid_molmo_sam2/images/episode_35700/0079.jpg", "droid_molmo_sam2/images/episode_35700/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the beetroot plushie in the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the beetroot plushie in the white bowl, execute the following phases: 1) Initial approach phase (start at [0.712, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.457]). The trajectory involves 145 precise waypoints with total movement distance of 0.547." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35700", "trajectory_length": 145, "key_frame_indices": [ 0, 79, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35700.json" } }, { "id": "droid_molmo_sam2_episode_3575", "task": "Pick up all the bottles and the orange ball from the table and put them in the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3575/0000.jpg", "droid_molmo_sam2/images/episode_3575/0341.jpg", "droid_molmo_sam2/images/episode_3575/0836.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up all the bottles and the orange ball from the table and put them in the plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up all the bottles and the orange ball from the table and put them in the plate, execute the following phases: 1) Initial approach phase (start at [0.562, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.565]). The trajectory involves 837 precise waypoints with total movement distance of 8.904." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3575", "trajectory_length": 837, "key_frame_indices": [ 0, 341, 836 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3575.json" } }, { "id": "droid_molmo_sam2_episode_31884", "task": "Move the orange pan to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31884/0000.jpg", "droid_molmo_sam2/images/episode_31884/0074.jpg", "droid_molmo_sam2/images/episode_31884/0095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange pan to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange pan to the right, execute the following phases: 1) Initial approach phase (start at [0.596, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.718, 0.515]). The trajectory involves 96 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31884", "trajectory_length": 96, "key_frame_indices": [ 0, 74, 95 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31884.json" } }, { "id": "droid_molmo_sam2_episode_6918", "task": "Close the open drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6918/0000.jpg", "droid_molmo_sam2/images/episode_6918/0062.jpg", "droid_molmo_sam2/images/episode_6918/0066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer, execute the following phases: 1) Initial approach phase (start at [0.387, 0.793]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.345, 0.807]). The trajectory involves 67 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6918", "trajectory_length": 67, "key_frame_indices": [ 0, 62, 66 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6918.json" } }, { "id": "droid_molmo_sam2_episode_3043", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3043/0000.jpg", "droid_molmo_sam2/images/episode_3043/0115.jpg", "droid_molmo_sam2/images/episode_3043/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.513, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 149 precise waypoints with total movement distance of 1.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3043", "trajectory_length": 149, "key_frame_indices": [ 0, 115, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3043.json" } }, { "id": "droid_molmo_sam2_episode_32418", "task": "Use the spoon to stir the contents of the small plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32418/0000.jpg", "droid_molmo_sam2/images/episode_32418/0130.jpg", "droid_molmo_sam2/images/episode_32418/0393.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spoon to stir the contents of the small plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the spoon to stir the contents of the small plate, execute the following phases: 1) Initial approach phase (start at [0.636, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.650]). The trajectory involves 394 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32418", "trajectory_length": 394, "key_frame_indices": [ 0, 130, 393 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32418.json" } }, { "id": "droid_molmo_sam2_episode_6845", "task": "Put the rubber band around the jar.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6845/0000.jpg", "droid_molmo_sam2/images/episode_6845/0076.jpg", "droid_molmo_sam2/images/episode_6845/0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band around the jar.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rubber band around the jar., execute the following phases: 1) Initial approach phase (start at [0.612, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.586]). The trajectory involves 146 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6845", "trajectory_length": 146, "key_frame_indices": [ 0, 76, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6845.json" } }, { "id": "droid_molmo_sam2_episode_31111", "task": "Take the white cloth from the black hanger and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31111/0000.jpg", "droid_molmo_sam2/images/episode_31111/0095.jpg", "droid_molmo_sam2/images/episode_31111/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the white cloth from the black hanger and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the white cloth from the black hanger and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.548, 0.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.500]). The trajectory involves 188 precise waypoints with total movement distance of 1.495." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31111", "trajectory_length": 188, "key_frame_indices": [ 0, 95, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31111.json" } }, { "id": "droid_molmo_sam2_episode_33858", "task": "No action", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33858/0000.jpg", "droid_molmo_sam2/images/episode_33858/0105.jpg", "droid_molmo_sam2/images/episode_33858/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: No action?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: No action, execute the following phases: 1) Initial approach phase (start at [0.540, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.800]). The trajectory involves 144 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33858", "trajectory_length": 144, "key_frame_indices": [ 0, 105, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33858.json" } }, { "id": "droid_molmo_sam2_episode_1702", "task": "Put the snack packet into the kitchen cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1702/0000.jpg", "droid_molmo_sam2/images/episode_1702/0388.jpg", "droid_molmo_sam2/images/episode_1702/0400.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_molmo_sam2 manipulation: Put the snack packet into the kitchen cabinet, execute the following phases: 1) Initial approach phase (start at [0.388, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 401 precise waypoints with total movement distance of 1.691." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1702", "trajectory_length": 401, "key_frame_indices": [ 0, 388, 400 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1702.json" } }, { "id": "droid_molmo_sam2_episode_37795", "task": "Slide the towel on the table to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37795/0000.jpg", "droid_molmo_sam2/images/episode_37795/0099.jpg", "droid_molmo_sam2/images/episode_37795/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel on the table to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel on the table to the right., execute the following phases: 1) Initial approach phase (start at [0.542, 0.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.630]). The trajectory involves 116 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37795", "trajectory_length": 116, "key_frame_indices": [ 0, 99, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37795.json" } }, { "id": "droid_molmo_sam2_episode_3058", "task": "Get the marker from the yellow cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3058/0000.jpg", "droid_molmo_sam2/images/episode_3058/0247.jpg", "droid_molmo_sam2/images/episode_3058/0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the yellow cup and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the marker from the yellow cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.742, 0.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.774, 0.443]). The trajectory involves 261 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3058", "trajectory_length": 261, "key_frame_indices": [ 0, 247, 260 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3058.json" } }, { "id": "droid_molmo_sam2_episode_2095", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2095/0000.jpg", "droid_molmo_sam2/images/episode_2095/0117.jpg", "droid_molmo_sam2/images/episode_2095/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.613, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.400]). The trajectory involves 201 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2095", "trajectory_length": 201, "key_frame_indices": [ 0, 117, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2095.json" } }, { "id": "droid_molmo_sam2_episode_32441", "task": "Put the white paper inside the white box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32441/0000.jpg", "droid_molmo_sam2/images/episode_32441/0116.jpg", "droid_molmo_sam2/images/episode_32441/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white paper inside the white box.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white paper inside the white box., execute the following phases: 1) Initial approach phase (start at [0.631, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.715]). The trajectory involves 175 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32441", "trajectory_length": 175, "key_frame_indices": [ 0, 116, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32441.json" } }, { "id": "droid_molmo_sam2_episode_3782", "task": "Put the can in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3782/0000.jpg", "droid_molmo_sam2/images/episode_3782/0149.jpg", "droid_molmo_sam2/images/episode_3782/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can in the sink, execute the following phases: 1) Initial approach phase (start at [0.351, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.928]). The trajectory involves 244 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3782", "trajectory_length": 244, "key_frame_indices": [ 0, 149, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3782.json" } }, { "id": "droid_molmo_sam2_episode_31893", "task": "Move the frontmost cup to the left side of the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31893/0000.jpg", "droid_molmo_sam2/images/episode_31893/0063.jpg", "droid_molmo_sam2/images/episode_31893/0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the frontmost cup to the left side of the book?" }, { "from": "gpt", "value": "To complete this repositioning: Move the frontmost cup to the left side of the book, execute the following phases: 1) Initial approach phase (start at [0.560, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.709]). The trajectory involves 165 precise waypoints with total movement distance of 0.749." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31893", "trajectory_length": 165, "key_frame_indices": [ 0, 63, 164 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31893.json" } }, { "id": "droid_molmo_sam2_episode_4393", "task": "Use the white towel to wipe the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4393/0000.jpg", "droid_molmo_sam2/images/episode_4393/0227.jpg", "droid_molmo_sam2/images/episode_4393/0299.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to wipe the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white towel to wipe the white bowl, execute the following phases: 1) Initial approach phase (start at [0.322, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.870]). The trajectory involves 300 precise waypoints with total movement distance of 0.988." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4393", "trajectory_length": 300, "key_frame_indices": [ 0, 227, 299 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4393.json" } }, { "id": "droid_molmo_sam2_episode_7034", "task": "Hang the white towel on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7034/0000.jpg", "droid_molmo_sam2/images/episode_7034/0199.jpg", "droid_molmo_sam2/images/episode_7034/0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white towel on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white towel on the black stand, execute the following phases: 1) Initial approach phase (start at [0.458, 0.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.378]). The trajectory involves 243 precise waypoints with total movement distance of 0.930." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7034", "trajectory_length": 243, "key_frame_indices": [ 0, 199, 242 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7034.json" } }, { "id": "droid_molmo_sam2_episode_3886", "task": "Move faucet of the sink slightly to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3886/0000.jpg", "droid_molmo_sam2/images/episode_3886/0078.jpg", "droid_molmo_sam2/images/episode_3886/0091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move faucet of the sink slightly to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move faucet of the sink slightly to the left., execute the following phases: 1) Initial approach phase (start at [0.459, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.483]). The trajectory involves 92 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3886", "trajectory_length": 92, "key_frame_indices": [ 0, 78, 91 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3886.json" } }, { "id": "droid_molmo_sam2_episode_32008", "task": "Move the mug cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32008/0000.jpg", "droid_molmo_sam2/images/episode_32008/0270.jpg", "droid_molmo_sam2/images/episode_32008/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.619, 0.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.434]). The trajectory involves 323 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32008", "trajectory_length": 323, "key_frame_indices": [ 0, 270, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32008.json" } }, { "id": "droid_molmo_sam2_episode_33148", "task": "Take the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33148/0000.jpg", "droid_molmo_sam2/images/episode_33148/0098.jpg", "droid_molmo_sam2/images/episode_33148/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.270, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.538]). The trajectory involves 124 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33148", "trajectory_length": 124, "key_frame_indices": [ 0, 98, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33148.json" } }, { "id": "droid_molmo_sam2_episode_32481", "task": "Put the white cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32481/0000.jpg", "droid_molmo_sam2/images/episode_32481/0123.jpg", "droid_molmo_sam2/images/episode_32481/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.561, 0.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.474]). The trajectory involves 139 precise waypoints with total movement distance of 1.068." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32481", "trajectory_length": 139, "key_frame_indices": [ 0, 123, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32481.json" } }, { "id": "droid_molmo_sam2_episode_6071", "task": "Move the white cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6071/0000.jpg", "droid_molmo_sam2/images/episode_6071/0070.jpg", "droid_molmo_sam2/images/episode_6071/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup, execute the following phases: 1) Initial approach phase (start at [0.521, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.527]). The trajectory involves 124 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6071", "trajectory_length": 124, "key_frame_indices": [ 0, 70, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6071.json" } }, { "id": "droid_molmo_sam2_episode_36025", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36025/0000.jpg", "droid_molmo_sam2/images/episode_36025/0364.jpg", "droid_molmo_sam2/images/episode_36025/0908.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.338, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.354]). The trajectory involves 909 precise waypoints with total movement distance of 7.396." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36025", "trajectory_length": 909, "key_frame_indices": [ 0, 364, 908 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36025.json" } }, { "id": "droid_molmo_sam2_episode_535", "task": "Open the door of the base cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_535/0000.jpg", "droid_molmo_sam2/images/episode_535/0116.jpg", "droid_molmo_sam2/images/episode_535/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door of the base cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door of the base cabinet, execute the following phases: 1) Initial approach phase (start at [0.565, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.764]). The trajectory involves 135 precise waypoints with total movement distance of 1.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_535", "trajectory_length": 135, "key_frame_indices": [ 0, 116, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_535.json" } }, { "id": "droid_molmo_sam2_episode_3124", "task": "Use the napkin to wipe the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3124/0000.jpg", "droid_molmo_sam2/images/episode_3124/0172.jpg", "droid_molmo_sam2/images/episode_3124/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the napkin to wipe the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the napkin to wipe the bowl, execute the following phases: 1) Initial approach phase (start at [0.506, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.714]). The trajectory involves 289 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3124", "trajectory_length": 289, "key_frame_indices": [ 0, 172, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3124.json" } }, { "id": "droid_molmo_sam2_episode_3143", "task": "Use the black towel to wipe the table top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3143/0000.jpg", "droid_molmo_sam2/images/episode_3143/0249.jpg", "droid_molmo_sam2/images/episode_3143/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the black towel to wipe the table top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the black towel to wipe the table top, execute the following phases: 1) Initial approach phase (start at [0.732, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.681]). The trajectory involves 289 precise waypoints with total movement distance of 1.688." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3143", "trajectory_length": 289, "key_frame_indices": [ 0, 249, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3143.json" } }, { "id": "droid_molmo_sam2_episode_34654", "task": "Gather all the items on the table in one place", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34654/0000.jpg", "droid_molmo_sam2/images/episode_34654/0691.jpg", "droid_molmo_sam2/images/episode_34654/0776.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Gather all the items on the table in one place?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Gather all the items on the table in one place, execute the following phases: 1) Initial approach phase (start at [0.494, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 777 precise waypoints with total movement distance of 5.054." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34654", "trajectory_length": 777, "key_frame_indices": [ 0, 691, 776 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34654.json" } }, { "id": "droid_molmo_sam2_episode_2061", "task": "Put the orange building block in the brown bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2061/0000.jpg", "droid_molmo_sam2/images/episode_2061/0074.jpg", "droid_molmo_sam2/images/episode_2061/0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange building block in the brown bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange building block in the brown bowl, execute the following phases: 1) Initial approach phase (start at [0.681, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.585, 0.418]). The trajectory involves 94 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2061", "trajectory_length": 94, "key_frame_indices": [ 0, 74, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2061.json" } }, { "id": "droid_molmo_sam2_episode_34016", "task": "Put the green block in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34016/0000.jpg", "droid_molmo_sam2/images/episode_34016/0072.jpg", "droid_molmo_sam2/images/episode_34016/0082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.627, 0.753]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.690, 0.568]). The trajectory involves 83 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34016", "trajectory_length": 83, "key_frame_indices": [ 0, 72, 82 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34016.json" } }, { "id": "droid_molmo_sam2_episode_36725", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36725/0000.jpg", "droid_molmo_sam2/images/episode_36725/0163.jpg", "droid_molmo_sam2/images/episode_36725/0170.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 [0.532, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.573, 0.751]). The trajectory involves 171 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36725", "trajectory_length": 171, "key_frame_indices": [ 0, 163, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36725.json" } }, { "id": "droid_molmo_sam2_episode_6181", "task": "Stack the small cylinder on top of the cube square", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6181/0000.jpg", "droid_molmo_sam2/images/episode_6181/0098.jpg", "droid_molmo_sam2/images/episode_6181/0160.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_molmo_sam2 manipulation: Stack the small cylinder on top of the cube square, execute the following phases: 1) Initial approach phase (start at [0.558, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.449]). The trajectory involves 161 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6181", "trajectory_length": 161, "key_frame_indices": [ 0, 98, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6181.json" } }, { "id": "droid_molmo_sam2_episode_37543", "task": "Move the cup backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37543/0000.jpg", "droid_molmo_sam2/images/episode_37543/0099.jpg", "droid_molmo_sam2/images/episode_37543/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backwards, execute the following phases: 1) Initial approach phase (start at [0.601, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.398]). The trajectory involves 144 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37543", "trajectory_length": 144, "key_frame_indices": [ 0, 99, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37543.json" } }, { "id": "droid_molmo_sam2_episode_2421", "task": "Put the glass lid on top of the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2421/0000.jpg", "droid_molmo_sam2/images/episode_2421/0131.jpg", "droid_molmo_sam2/images/episode_2421/0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on top of the black pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glass lid on top of the black pot, execute the following phases: 1) Initial approach phase (start at [0.760, 0.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.404]). The trajectory involves 182 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2421", "trajectory_length": 182, "key_frame_indices": [ 0, 131, 181 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2421.json" } }, { "id": "droid_molmo_sam2_episode_3450", "task": "Remove the blue cup out of the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3450/0000.jpg", "droid_molmo_sam2/images/episode_3450/0103.jpg", "droid_molmo_sam2/images/episode_3450/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue cup out of the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue cup out of the bowl, execute the following phases: 1) Initial approach phase (start at [0.735, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.506]). The trajectory involves 113 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3450", "trajectory_length": 113, "key_frame_indices": [ 0, 103, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3450.json" } }, { "id": "droid_molmo_sam2_episode_32931", "task": "Take the snack packet out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32931/0000.jpg", "droid_molmo_sam2/images/episode_32931/0116.jpg", "droid_molmo_sam2/images/episode_32931/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the snack packet out of the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the snack packet out of the sink, execute the following phases: 1) Initial approach phase (start at [0.547, 0.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.819]). The trajectory involves 258 precise waypoints with total movement distance of 0.891." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32931", "trajectory_length": 258, "key_frame_indices": [ 0, 116, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32931.json" } }, { "id": "droid_molmo_sam2_episode_7458", "task": "Take the marker from the clear cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7458/0000.jpg", "droid_molmo_sam2/images/episode_7458/0227.jpg", "droid_molmo_sam2/images/episode_7458/0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the clear cup and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the clear cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.660, 0.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 268 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7458", "trajectory_length": 268, "key_frame_indices": [ 0, 227, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7458.json" } }, { "id": "droid_molmo_sam2_episode_6083", "task": "Put the rubber band around the brown cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6083/0000.jpg", "droid_molmo_sam2/images/episode_6083/0073.jpg", "droid_molmo_sam2/images/episode_6083/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band around the brown cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rubber band around the brown cup, execute the following phases: 1) Initial approach phase (start at [0.564, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.568]). The trajectory involves 140 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6083", "trajectory_length": 140, "key_frame_indices": [ 0, 73, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6083.json" } }, { "id": "droid_molmo_sam2_episode_3972", "task": "Move the bottle from the base top and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3972/0000.jpg", "droid_molmo_sam2/images/episode_3972/0232.jpg", "droid_molmo_sam2/images/episode_3972/0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle from the base top and put it in the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle from the base top and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.701, 0.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.406]). The trajectory involves 240 precise waypoints with total movement distance of 0.970." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3972", "trajectory_length": 240, "key_frame_indices": [ 0, 232, 239 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3972.json" } }, { "id": "droid_molmo_sam2_episode_36270", "task": "Put the green block inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36270/0000.jpg", "droid_molmo_sam2/images/episode_36270/0110.jpg", "droid_molmo_sam2/images/episode_36270/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.597, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.427]). The trajectory involves 173 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36270", "trajectory_length": 173, "key_frame_indices": [ 0, 110, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36270.json" } }, { "id": "droid_molmo_sam2_episode_37485", "task": "Move the kitchen faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37485/0000.jpg", "droid_molmo_sam2/images/episode_37485/0223.jpg", "droid_molmo_sam2/images/episode_37485/0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the kitchen faucet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the kitchen faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.457, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.473]). The trajectory involves 251 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37485", "trajectory_length": 251, "key_frame_indices": [ 0, 223, 250 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37485.json" } }, { "id": "droid_molmo_sam2_episode_4609", "task": "Pick up the bowl and pour it's contents into the red bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4609/0000.jpg", "droid_molmo_sam2/images/episode_4609/0226.jpg", "droid_molmo_sam2/images/episode_4609/0318.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bowl and pour it's contents into the red bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the bowl and pour it's contents into the red bowl, execute the following phases: 1) Initial approach phase (start at [0.498, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.456]). The trajectory involves 319 precise waypoints with total movement distance of 1.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4609", "trajectory_length": 319, "key_frame_indices": [ 0, 226, 318 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4609.json" } }, { "id": "droid_molmo_sam2_episode_32281", "task": "Put the bottles and the red object on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32281/0000.jpg", "droid_molmo_sam2/images/episode_32281/0564.jpg", "droid_molmo_sam2/images/episode_32281/0982.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottles and the red object on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the bottles and the red object on the plate, execute the following phases: 1) Initial approach phase (start at [0.510, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.477, 0.731]). The trajectory involves 983 precise waypoints with total movement distance of 2.798." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32281", "trajectory_length": 983, "key_frame_indices": [ 0, 564, 982 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32281.json" } }, { "id": "droid_molmo_sam2_episode_326", "task": "Move the silver bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_326/0000.jpg", "droid_molmo_sam2/images/episode_326/0393.jpg", "droid_molmo_sam2/images/episode_326/0430.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the silver bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.412, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.909]). The trajectory involves 431 precise waypoints with total movement distance of 2.480." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_326", "trajectory_length": 431, "key_frame_indices": [ 0, 393, 430 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_326.json" } }, { "id": "droid_molmo_sam2_episode_37327", "task": "Hang the cloth on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37327/0000.jpg", "droid_molmo_sam2/images/episode_37327/0121.jpg", "droid_molmo_sam2/images/episode_37327/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the object, execute the following phases: 1) Initial approach phase (start at [0.632, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.389]). The trajectory involves 202 precise waypoints with total movement distance of 1.001." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37327", "trajectory_length": 202, "key_frame_indices": [ 0, 121, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37327.json" } }, { "id": "droid_molmo_sam2_episode_32654", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32654/0000.jpg", "droid_molmo_sam2/images/episode_32654/0193.jpg", "droid_molmo_sam2/images/episode_32654/0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.651, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.470]). The trajectory involves 220 precise waypoints with total movement distance of 0.842." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32654", "trajectory_length": 220, "key_frame_indices": [ 0, 193, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32654.json" } }, { "id": "droid_molmo_sam2_episode_30667", "task": "Close the tap with the right tap handle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30667/0000.jpg", "droid_molmo_sam2/images/episode_30667/0118.jpg", "droid_molmo_sam2/images/episode_30667/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the tap with the right tap handle?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the tap with the right tap handle, execute the following phases: 1) Initial approach phase (start at [0.379, 0.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.313]). The trajectory involves 121 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30667", "trajectory_length": 121, "key_frame_indices": [ 0, 118, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30667.json" } }, { "id": "droid_molmo_sam2_episode_37621", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37621/0000.jpg", "droid_molmo_sam2/images/episode_37621/0195.jpg", "droid_molmo_sam2/images/episode_37621/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.433, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.288]). The trajectory involves 203 precise waypoints with total movement distance of 0.756." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37621", "trajectory_length": 203, "key_frame_indices": [ 0, 195, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37621.json" } }, { "id": "droid_molmo_sam2_episode_32956", "task": "Put the red object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32956/0000.jpg", "droid_molmo_sam2/images/episode_32956/0055.jpg", "droid_molmo_sam2/images/episode_32956/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.553, 0.894]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.552, 0.875]). The trajectory involves 99 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32956", "trajectory_length": 99, "key_frame_indices": [ 0, 55, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32956.json" } }, { "id": "droid_molmo_sam2_episode_38933", "task": "Move the basketball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38933/0000.jpg", "droid_molmo_sam2/images/episode_38933/0092.jpg", "droid_molmo_sam2/images/episode_38933/0106.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 [0.560, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.621]). The trajectory involves 107 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38933", "trajectory_length": 107, "key_frame_indices": [ 0, 92, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38933.json" } }, { "id": "droid_molmo_sam2_episode_31299", "task": "Straighten out the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31299/0000.jpg", "droid_molmo_sam2/images/episode_31299/0158.jpg", "droid_molmo_sam2/images/episode_31299/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten out the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten out the towel, execute the following phases: 1) Initial approach phase (start at [0.593, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.632]). The trajectory involves 258 precise waypoints with total movement distance of 1.010." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31299", "trajectory_length": 258, "key_frame_indices": [ 0, 158, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31299.json" } }, { "id": "droid_molmo_sam2_episode_35169", "task": "Untangle the blue cable", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35169/0000.jpg", "droid_molmo_sam2/images/episode_35169/0137.jpg", "droid_molmo_sam2/images/episode_35169/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Untangle the blue cable?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Untangle the blue cable, execute the following phases: 1) Initial approach phase (start at [0.596, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.581]). The trajectory involves 215 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35169", "trajectory_length": 215, "key_frame_indices": [ 0, 137, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35169.json" } }, { "id": "droid_molmo_sam2_episode_31555", "task": "Move the grey faucet to the center of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31555/0000.jpg", "droid_molmo_sam2/images/episode_31555/0087.jpg", "droid_molmo_sam2/images/episode_31555/0095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey faucet to the center of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey faucet to the center of the sink, execute the following phases: 1) Initial approach phase (start at [0.475, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.542]). The trajectory involves 96 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31555", "trajectory_length": 96, "key_frame_indices": [ 0, 87, 95 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31555.json" } }, { "id": "droid_molmo_sam2_episode_892", "task": "Move the cup slightly to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_892/0000.jpg", "droid_molmo_sam2/images/episode_892/0158.jpg", "droid_molmo_sam2/images/episode_892/0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.531, 0.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.360]). The trajectory involves 247 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_892", "trajectory_length": 247, "key_frame_indices": [ 0, 158, 246 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_892.json" } }, { "id": "droid_molmo_sam2_episode_6858", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6858/0000.jpg", "droid_molmo_sam2/images/episode_6858/0114.jpg", "droid_molmo_sam2/images/episode_6858/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.445, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.583]). The trajectory involves 129 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6858", "trajectory_length": 129, "key_frame_indices": [ 0, 114, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6858.json" } }, { "id": "droid_molmo_sam2_episode_38215", "task": "Pile the pair of jeans on the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38215/0000.jpg", "droid_molmo_sam2/images/episode_38215/0164.jpg", "droid_molmo_sam2/images/episode_38215/0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pile the pair of jeans on the couch?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pile the pair of jeans on the couch, execute the following phases: 1) Initial approach phase (start at [0.579, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.607]). The trajectory involves 242 precise waypoints with total movement distance of 1.379." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38215", "trajectory_length": 242, "key_frame_indices": [ 0, 164, 241 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38215.json" } }, { "id": "droid_molmo_sam2_episode_30376", "task": "Move the silver bowl to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30376/0000.jpg", "droid_molmo_sam2/images/episode_30376/0137.jpg", "droid_molmo_sam2/images/episode_30376/0222.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 [0.513, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.528]). The trajectory involves 223 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30376", "trajectory_length": 223, "key_frame_indices": [ 0, 137, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30376.json" } }, { "id": "droid_molmo_sam2_episode_3792", "task": "Slide the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3792/0000.jpg", "droid_molmo_sam2/images/episode_3792/0075.jpg", "droid_molmo_sam2/images/episode_3792/0095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.740, 0.723]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.552, 0.448]). The trajectory involves 96 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3792", "trajectory_length": 96, "key_frame_indices": [ 0, 75, 95 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3792.json" } }, { "id": "droid_molmo_sam2_episode_1253", "task": "Put the orange plate on top of the coffeemaker.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1253/0000.jpg", "droid_molmo_sam2/images/episode_1253/0239.jpg", "droid_molmo_sam2/images/episode_1253/0352.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_molmo_sam2 manipulation: Put the orange plate on top of the coffeemaker., execute the following phases: 1) Initial approach phase (start at [0.446, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.231]). The trajectory involves 353 precise waypoints with total movement distance of 1.187." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1253", "trajectory_length": 353, "key_frame_indices": [ 0, 239, 352 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1253.json" } }, { "id": "droid_molmo_sam2_episode_3240", "task": "Move the paper to the upper half of the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3240/0000.jpg", "droid_molmo_sam2/images/episode_3240/0095.jpg", "droid_molmo_sam2/images/episode_3240/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the paper to the upper half of the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Move the paper to the upper half of the desk, execute the following phases: 1) Initial approach phase (start at [0.483, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.514]). The trajectory involves 203 precise waypoints with total movement distance of 1.161." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3240", "trajectory_length": 203, "key_frame_indices": [ 0, 95, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3240.json" } }, { "id": "droid_molmo_sam2_episode_4330", "task": "Remove the yellow object from the yellow cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4330/0000.jpg", "droid_molmo_sam2/images/episode_4330/0085.jpg", "droid_molmo_sam2/images/episode_4330/0117.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the yellow object from the yellow cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.545, 0.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.410]). The trajectory involves 118 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4330", "trajectory_length": 118, "key_frame_indices": [ 0, 85, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4330.json" } }, { "id": "droid_molmo_sam2_episode_6897", "task": "Take the pink plate off the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6897/0000.jpg", "droid_molmo_sam2/images/episode_6897/0095.jpg", "droid_molmo_sam2/images/episode_6897/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pink plate off the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pink plate off the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.704, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.655]). The trajectory involves 162 precise waypoints with total movement distance of 0.805." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6897", "trajectory_length": 162, "key_frame_indices": [ 0, 95, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6897.json" } }, { "id": "droid_molmo_sam2_episode_871", "task": "Put the blue bowl on the right side of the stovetop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_871/0000.jpg", "droid_molmo_sam2/images/episode_871/0081.jpg", "droid_molmo_sam2/images/episode_871/0139.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_molmo_sam2 manipulation: Put the blue bowl on the right side of the stovetop., execute the following phases: 1) Initial approach phase (start at [0.448, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.683]). The trajectory involves 140 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_871", "trajectory_length": 140, "key_frame_indices": [ 0, 81, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_871.json" } }, { "id": "droid_molmo_sam2_episode_38584", "task": "Put the blue shirt in the laundry bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38584/0000.jpg", "droid_molmo_sam2/images/episode_38584/0145.jpg", "droid_molmo_sam2/images/episode_38584/0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue shirt in the laundry bag?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue shirt in the laundry bag, execute the following phases: 1) Initial approach phase (start at [0.409, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.889]). The trajectory involves 207 precise waypoints with total movement distance of 3.021." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38584", "trajectory_length": 207, "key_frame_indices": [ 0, 145, 206 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38584.json" } }, { "id": "droid_molmo_sam2_episode_34068", "task": "Slide the yellow mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34068/0000.jpg", "droid_molmo_sam2/images/episode_34068/0172.jpg", "droid_molmo_sam2/images/episode_34068/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the yellow mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the yellow mug to the left, execute the following phases: 1) Initial approach phase (start at [0.525, 0.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.451]). The trajectory involves 216 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34068", "trajectory_length": 216, "key_frame_indices": [ 0, 172, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34068.json" } }, { "id": "droid_molmo_sam2_episode_32308", "task": "Slide the mug downwards towards the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32308/0000.jpg", "droid_molmo_sam2/images/episode_32308/0051.jpg", "droid_molmo_sam2/images/episode_32308/0081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug downwards towards the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug downwards towards the left, execute the following phases: 1) Initial approach phase (start at [0.681, 0.416]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.389]). The trajectory involves 82 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32308", "trajectory_length": 82, "key_frame_indices": [ 0, 51, 81 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32308.json" } }, { "id": "droid_molmo_sam2_episode_3980", "task": "Use the cloth to wipe the side of the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3980/0000.jpg", "droid_molmo_sam2/images/episode_3980/0329.jpg", "droid_molmo_sam2/images/episode_3980/0427.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the cloth to wipe the side of the couch?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the cloth to wipe the side of the couch, execute the following phases: 1) Initial approach phase (start at [0.447, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.828]). The trajectory involves 428 precise waypoints with total movement distance of 4.845." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3980", "trajectory_length": 428, "key_frame_indices": [ 0, 329, 427 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3980.json" } }, { "id": "droid_molmo_sam2_episode_38696", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38696/0000.jpg", "droid_molmo_sam2/images/episode_38696/0110.jpg", "droid_molmo_sam2/images/episode_38696/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.637, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.597]). The trajectory involves 137 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38696", "trajectory_length": 137, "key_frame_indices": [ 0, 110, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38696.json" } }, { "id": "droid_molmo_sam2_episode_34844", "task": "Put the marker into the mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34844/0000.jpg", "droid_molmo_sam2/images/episode_34844/0123.jpg", "droid_molmo_sam2/images/episode_34844/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the mug.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the mug., execute the following phases: 1) Initial approach phase (start at [0.596, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.771, 0.509]). The trajectory involves 132 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34844", "trajectory_length": 132, "key_frame_indices": [ 0, 123, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34844.json" } }, { "id": "droid_molmo_sam2_episode_7407", "task": "Move the shirts from the chair and put them on top of the box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7407/0000.jpg", "droid_molmo_sam2/images/episode_7407/0292.jpg", "droid_molmo_sam2/images/episode_7407/0580.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the shirts from the chair and put them on top of the box.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the shirts from the chair and put them on top of the box., execute the following phases: 1) Initial approach phase (start at [0.596, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.372]). The trajectory involves 581 precise waypoints with total movement distance of 2.742." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7407", "trajectory_length": 581, "key_frame_indices": [ 0, 292, 580 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7407.json" } }, { "id": "droid_molmo_sam2_episode_32249", "task": "Pick up the canned drink and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32249/0000.jpg", "droid_molmo_sam2/images/episode_32249/0315.jpg", "droid_molmo_sam2/images/episode_32249/0404.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the canned drink and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the canned drink and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.334, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.905]). The trajectory involves 405 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32249", "trajectory_length": 405, "key_frame_indices": [ 0, 315, 404 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32249.json" } }, { "id": "droid_molmo_sam2_episode_4431", "task": "Put the orange bowl near the pink mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4431/0000.jpg", "droid_molmo_sam2/images/episode_4431/0074.jpg", "droid_molmo_sam2/images/episode_4431/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange bowl near the pink mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange bowl near the pink mug, execute the following phases: 1) Initial approach phase (start at [0.536, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.465]). The trajectory involves 103 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4431", "trajectory_length": 103, "key_frame_indices": [ 0, 74, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4431.json" } }, { "id": "droid_molmo_sam2_episode_3310", "task": "Slide the green towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3310/0000.jpg", "droid_molmo_sam2/images/episode_3310/0084.jpg", "droid_molmo_sam2/images/episode_3310/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green towel to the right, execute the following phases: 1) Initial approach phase (start at [0.474, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.495]). The trajectory involves 110 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3310", "trajectory_length": 110, "key_frame_indices": [ 0, 84, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3310.json" } }, { "id": "droid_molmo_sam2_episode_37952", "task": "Move the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37952/0000.jpg", "droid_molmo_sam2/images/episode_37952/0328.jpg", "droid_molmo_sam2/images/episode_37952/0358.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.441, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.712]). The trajectory involves 359 precise waypoints with total movement distance of 1.552." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37952", "trajectory_length": 359, "key_frame_indices": [ 0, 328, 358 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37952.json" } }, { "id": "droid_molmo_sam2_episode_3246", "task": "Put the yellow cable in the tool box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3246/0000.jpg", "droid_molmo_sam2/images/episode_3246/0132.jpg", "droid_molmo_sam2/images/episode_3246/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow cable in the tool box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow cable in the tool box, execute the following phases: 1) Initial approach phase (start at [0.383, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.496]). The trajectory involves 139 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3246", "trajectory_length": 139, "key_frame_indices": [ 0, 132, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3246.json" } }, { "id": "droid_molmo_sam2_episode_36749", "task": "Move the grey bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36749/0000.jpg", "droid_molmo_sam2/images/episode_36749/0038.jpg", "droid_molmo_sam2/images/episode_36749/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.762, 0.409]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.345]). The trajectory involves 89 precise waypoints with total movement distance of 0.461." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36749", "trajectory_length": 89, "key_frame_indices": [ 0, 38, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36749.json" } }, { "id": "droid_molmo_sam2_episode_4121", "task": "Click on the mouse", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4121/0000.jpg", "droid_molmo_sam2/images/episode_4121/0053.jpg", "droid_molmo_sam2/images/episode_4121/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Click on the mouse?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Click on the mouse, execute the following phases: 1) Initial approach phase (start at [0.583, 0.775]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.580, 0.775]). The trajectory involves 100 precise waypoints with total movement distance of 0.043." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4121", "trajectory_length": 100, "key_frame_indices": [ 0, 53, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4121.json" } }, { "id": "droid_molmo_sam2_episode_31783", "task": "Move the empty plastic pack of snack forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31783/0000.jpg", "droid_molmo_sam2/images/episode_31783/0161.jpg", "droid_molmo_sam2/images/episode_31783/0191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the empty plastic pack of snack forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the empty plastic pack of snack forward, execute the following phases: 1) Initial approach phase (start at [0.392, 0.895]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.568]). The trajectory involves 192 precise waypoints with total movement distance of 1.046." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31783", "trajectory_length": 192, "key_frame_indices": [ 0, 161, 191 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31783.json" } }, { "id": "droid_molmo_sam2_episode_1242", "task": "Pull the colourless bucket forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1242/0000.jpg", "droid_molmo_sam2/images/episode_1242/0150.jpg", "droid_molmo_sam2/images/episode_1242/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the colourless bucket forward?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the colourless bucket forward, execute the following phases: 1) Initial approach phase (start at [0.448, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.755]). The trajectory involves 193 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1242", "trajectory_length": 193, "key_frame_indices": [ 0, 150, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1242.json" } }, { "id": "droid_molmo_sam2_episode_35457", "task": "Put the yellow triangular block on the cube", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35457/0000.jpg", "droid_molmo_sam2/images/episode_35457/0110.jpg", "droid_molmo_sam2/images/episode_35457/0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow triangular block on the cube?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow triangular block on the cube, execute the following phases: 1) Initial approach phase (start at [0.519, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.515]). The trajectory involves 182 precise waypoints with total movement distance of 1.031." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35457", "trajectory_length": 182, "key_frame_indices": [ 0, 110, 181 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35457.json" } }, { "id": "droid_molmo_sam2_episode_32058", "task": "Take the marker out of the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32058/0000.jpg", "droid_molmo_sam2/images/episode_32058/0252.jpg", "droid_molmo_sam2/images/episode_32058/0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.784, 0.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.793, 0.261]). The trajectory involves 265 precise waypoints with total movement distance of 0.922." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32058", "trajectory_length": 265, "key_frame_indices": [ 0, 252, 264 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32058.json" } }, { "id": "droid_molmo_sam2_episode_35443", "task": "Put the cloth on the wooden board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35443/0000.jpg", "droid_molmo_sam2/images/episode_35443/0142.jpg", "droid_molmo_sam2/images/episode_35443/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the wooden board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the wooden board, execute the following phases: 1) Initial approach phase (start at [0.421, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.567]). The trajectory involves 154 precise waypoints with total movement distance of 1.082." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35443", "trajectory_length": 154, "key_frame_indices": [ 0, 142, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35443.json" } }, { "id": "droid_molmo_sam2_episode_36052", "task": "Place the grey blanket on the arm rest", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36052/0000.jpg", "droid_molmo_sam2/images/episode_36052/0128.jpg", "droid_molmo_sam2/images/episode_36052/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the grey blanket on the arm rest?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the grey blanket on the arm rest, execute the following phases: 1) Initial approach phase (start at [0.399, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.875]). The trajectory involves 169 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36052", "trajectory_length": 169, "key_frame_indices": [ 0, 128, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36052.json" } }, { "id": "droid_molmo_sam2_episode_1411", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1411/0000.jpg", "droid_molmo_sam2/images/episode_1411/0119.jpg", "droid_molmo_sam2/images/episode_1411/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.690, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.420]). The trajectory involves 138 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1411", "trajectory_length": 138, "key_frame_indices": [ 0, 119, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1411.json" } }, { "id": "droid_molmo_sam2_episode_7461", "task": "Put the green can in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7461/0000.jpg", "droid_molmo_sam2/images/episode_7461/0210.jpg", "droid_molmo_sam2/images/episode_7461/0223.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_molmo_sam2 manipulation: Put the green can in the sink, execute the following phases: 1) Initial approach phase (start at [0.346, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.862]). The trajectory involves 224 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7461", "trajectory_length": 224, "key_frame_indices": [ 0, 210, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7461.json" } }, { "id": "droid_molmo_sam2_episode_35941", "task": "Use the towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35941/0000.jpg", "droid_molmo_sam2/images/episode_35941/0215.jpg", "droid_molmo_sam2/images/episode_35941/0360.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.484, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.411]). The trajectory involves 361 precise waypoints with total movement distance of 1.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35941", "trajectory_length": 361, "key_frame_indices": [ 0, 215, 360 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35941.json" } }, { "id": "droid_molmo_sam2_episode_32358", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32358/0000.jpg", "droid_molmo_sam2/images/episode_32358/0086.jpg", "droid_molmo_sam2/images/episode_32358/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.564, 0.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.401]). The trajectory involves 111 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32358", "trajectory_length": 111, "key_frame_indices": [ 0, 86, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32358.json" } }, { "id": "droid_molmo_sam2_episode_2699", "task": "Put the green block behind the orange one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2699/0000.jpg", "droid_molmo_sam2/images/episode_2699/0073.jpg", "droid_molmo_sam2/images/episode_2699/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block behind the orange one?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block behind the orange one, execute the following phases: 1) Initial approach phase (start at [0.468, 0.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.521, 0.311]). The trajectory involves 110 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2699", "trajectory_length": 110, "key_frame_indices": [ 0, 73, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2699.json" } }, { "id": "droid_molmo_sam2_episode_4400", "task": "Turn off the air fryer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4400/0000.jpg", "droid_molmo_sam2/images/episode_4400/0044.jpg", "droid_molmo_sam2/images/episode_4400/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the air fryer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn off the air fryer, execute the following phases: 1) Initial approach phase (start at [0.580, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.519]). The trajectory involves 175 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4400", "trajectory_length": 175, "key_frame_indices": [ 0, 44, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4400.json" } }, { "id": "droid_molmo_sam2_episode_1540", "task": "Move the basket to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1540/0000.jpg", "droid_molmo_sam2/images/episode_1540/0122.jpg", "droid_molmo_sam2/images/episode_1540/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the basket to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the basket to the right, execute the following phases: 1) Initial approach phase (start at [0.567, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.574]). The trajectory involves 203 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1540", "trajectory_length": 203, "key_frame_indices": [ 0, 122, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1540.json" } }, { "id": "droid_molmo_sam2_episode_34451", "task": "Put the paper bag into the cardboard box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34451/0000.jpg", "droid_molmo_sam2/images/episode_34451/0197.jpg", "droid_molmo_sam2/images/episode_34451/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the paper bag into the cardboard box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the paper bag into the cardboard box, execute the following phases: 1) Initial approach phase (start at [0.675, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.870]). The trajectory involves 263 precise waypoints with total movement distance of 1.157." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34451", "trajectory_length": 263, "key_frame_indices": [ 0, 197, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34451.json" } }, { "id": "droid_molmo_sam2_episode_35402", "task": "Remove the wooden spatula from the pan and put it in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35402/0000.jpg", "droid_molmo_sam2/images/episode_35402/0119.jpg", "droid_molmo_sam2/images/episode_35402/0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the wooden spatula from the pan and put it in the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the wooden spatula from the pan and put it in the pot, execute the following phases: 1) Initial approach phase (start at [0.432, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.295]). The trajectory involves 240 precise waypoints with total movement distance of 1.063." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35402", "trajectory_length": 240, "key_frame_indices": [ 0, 119, 239 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35402.json" } }, { "id": "droid_molmo_sam2_episode_32042", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32042/0000.jpg", "droid_molmo_sam2/images/episode_32042/0168.jpg", "droid_molmo_sam2/images/episode_32042/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.421, 0.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.598]). The trajectory involves 266 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32042", "trajectory_length": 266, "key_frame_indices": [ 0, 168, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32042.json" } }, { "id": "droid_molmo_sam2_episode_32421", "task": "Move the white cloth to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32421/0000.jpg", "droid_molmo_sam2/images/episode_32421/0104.jpg", "droid_molmo_sam2/images/episode_32421/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cloth to the left, 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 [0.675, 0.956]). The trajectory involves 144 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32421", "trajectory_length": 144, "key_frame_indices": [ 0, 104, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32421.json" } }, { "id": "droid_molmo_sam2_episode_7218", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7218/0000.jpg", "droid_molmo_sam2/images/episode_7218/0124.jpg", "droid_molmo_sam2/images/episode_7218/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.489, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.493]). The trajectory involves 143 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7218", "trajectory_length": 143, "key_frame_indices": [ 0, 124, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7218.json" } }, { "id": "droid_molmo_sam2_episode_4042", "task": "Move the gray backpack to the right of the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4042/0000.jpg", "droid_molmo_sam2/images/episode_4042/0123.jpg", "droid_molmo_sam2/images/episode_4042/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the gray backpack to the right of the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Move the gray backpack to the right of the couch, execute the following phases: 1) Initial approach phase (start at [0.571, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.675, 0.411]). The trajectory involves 147 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4042", "trajectory_length": 147, "key_frame_indices": [ 0, 123, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4042.json" } }, { "id": "droid_molmo_sam2_episode_34526", "task": "Open the cube-shaped wooden object completely", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34526/0000.jpg", "droid_molmo_sam2/images/episode_34526/0142.jpg", "droid_molmo_sam2/images/episode_34526/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cube-shaped wooden object completely?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cube-shaped wooden object completely, execute the following phases: 1) Initial approach phase (start at [0.521, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.614]). The trajectory involves 160 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34526", "trajectory_length": 160, "key_frame_indices": [ 0, 142, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34526.json" } }, { "id": "droid_molmo_sam2_episode_6610", "task": "Place the orange block on top of the green block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6610/0000.jpg", "droid_molmo_sam2/images/episode_6610/0085.jpg", "droid_molmo_sam2/images/episode_6610/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange block on top of the green block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange block on top of the green block, execute the following phases: 1) Initial approach phase (start at [0.568, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.523]). The trajectory involves 124 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6610", "trajectory_length": 124, "key_frame_indices": [ 0, 85, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6610.json" } }, { "id": "droid_molmo_sam2_episode_36461", "task": "Move the cup away from you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36461/0000.jpg", "droid_molmo_sam2/images/episode_36461/0164.jpg", "droid_molmo_sam2/images/episode_36461/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup away from you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup away from you, execute the following phases: 1) Initial approach phase (start at [0.555, 0.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.384]). The trajectory involves 219 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36461", "trajectory_length": 219, "key_frame_indices": [ 0, 164, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36461.json" } }, { "id": "droid_molmo_sam2_episode_37133", "task": "Pick up the object and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37133/0000.jpg", "droid_molmo_sam2/images/episode_37133/0110.jpg", "droid_molmo_sam2/images/episode_37133/0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the object and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the object and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.343, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.934]). The trajectory involves 172 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37133", "trajectory_length": 172, "key_frame_indices": [ 0, 110, 171 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37133.json" } }, { "id": "droid_molmo_sam2_episode_6165", "task": "Pick up the black lid and put it on top of the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6165/0000.jpg", "droid_molmo_sam2/images/episode_6165/0306.jpg", "droid_molmo_sam2/images/episode_6165/0321.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black lid and put it on top of the black pot, execute the following phases: 1) Initial approach phase (start at [0.693, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.757, 0.633]). The trajectory involves 322 precise waypoints with total movement distance of 1.103." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6165", "trajectory_length": 322, "key_frame_indices": [ 0, 306, 321 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6165.json" } }, { "id": "droid_molmo_sam2_episode_36143", "task": "Place the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36143/0000.jpg", "droid_molmo_sam2/images/episode_36143/0114.jpg", "droid_molmo_sam2/images/episode_36143/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.592, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.485]). The trajectory involves 137 precise waypoints with total movement distance of 0.481." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36143", "trajectory_length": 137, "key_frame_indices": [ 0, 114, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36143.json" } }, { "id": "droid_molmo_sam2_episode_38495", "task": "Flip the green cloth over", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38495/0000.jpg", "droid_molmo_sam2/images/episode_38495/0098.jpg", "droid_molmo_sam2/images/episode_38495/0139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the green cloth over?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the green cloth over, execute the following phases: 1) Initial approach phase (start at [0.351, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.560]). The trajectory involves 140 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38495", "trajectory_length": 140, "key_frame_indices": [ 0, 98, 139 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38495.json" } }, { "id": "droid_molmo_sam2_episode_30751", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30751/0000.jpg", "droid_molmo_sam2/images/episode_30751/0079.jpg", "droid_molmo_sam2/images/episode_30751/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.580, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.725]). The trajectory involves 130 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30751", "trajectory_length": 130, "key_frame_indices": [ 0, 79, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30751.json" } }, { "id": "droid_molmo_sam2_episode_3913", "task": "Move the bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3913/0000.jpg", "droid_molmo_sam2/images/episode_3913/0075.jpg", "droid_molmo_sam2/images/episode_3913/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.523, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.713]). The trajectory involves 132 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3913", "trajectory_length": 132, "key_frame_indices": [ 0, 75, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3913.json" } }, { "id": "droid_molmo_sam2_episode_33975", "task": "Put the box on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33975/0000.jpg", "droid_molmo_sam2/images/episode_33975/0105.jpg", "droid_molmo_sam2/images/episode_33975/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the box on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the box on the stand, execute the following phases: 1) Initial approach phase (start at [0.740, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.604]). The trajectory involves 201 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33975", "trajectory_length": 201, "key_frame_indices": [ 0, 105, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33975.json" } }, { "id": "droid_molmo_sam2_episode_30326", "task": "Pick up the orange object tool and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30326/0000.jpg", "droid_molmo_sam2/images/episode_30326/0054.jpg", "droid_molmo_sam2/images/episode_30326/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object tool and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange object tool and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.596, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.535]). The trajectory involves 141 precise waypoints with total movement distance of 0.834." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30326", "trajectory_length": 141, "key_frame_indices": [ 0, 54, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30326.json" } }, { "id": "droid_molmo_sam2_episode_965", "task": "Move the white bowl slightly backward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_965/0000.jpg", "droid_molmo_sam2/images/episode_965/0076.jpg", "droid_molmo_sam2/images/episode_965/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white bowl slightly backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white bowl slightly backward, execute the following phases: 1) Initial approach phase (start at [0.482, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.589]). The trajectory involves 149 precise waypoints with total movement distance of 1.916." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_965", "trajectory_length": 149, "key_frame_indices": [ 0, 76, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_965.json" } }, { "id": "droid_molmo_sam2_episode_35030", "task": "Remove one white plate from the countertop and place it on the left side of the dishwasher rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35030/0000.jpg", "droid_molmo_sam2/images/episode_35030/0407.jpg", "droid_molmo_sam2/images/episode_35030/0443.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one white plate from the countertop and place it on the left side of the dishwasher rack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one white plate from the countertop and place it on the left side of the dishwasher rack, execute the following phases: 1) Initial approach phase (start at [0.389, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 444 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35030", "trajectory_length": 444, "key_frame_indices": [ 0, 407, 443 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35030.json" } }, { "id": "droid_molmo_sam2_episode_36254", "task": "Pick up the rope and arrange it on the board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36254/0000.jpg", "droid_molmo_sam2/images/episode_36254/0180.jpg", "droid_molmo_sam2/images/episode_36254/0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rope and arrange it on the board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the rope and arrange it on the board, execute the following phases: 1) Initial approach phase (start at [0.379, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.638]). The trajectory involves 211 precise waypoints with total movement distance of 0.442." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36254", "trajectory_length": 211, "key_frame_indices": [ 0, 180, 210 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36254.json" } }, { "id": "droid_molmo_sam2_episode_34512", "task": "Close the bottom drawer of the right cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34512/0000.jpg", "droid_molmo_sam2/images/episode_34512/0048.jpg", "droid_molmo_sam2/images/episode_34512/0060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the right cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the right cabinet, execute the following phases: 1) Initial approach phase (start at [0.570, 0.776]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.557, 0.744]). The trajectory involves 61 precise waypoints with total movement distance of 0.112." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34512", "trajectory_length": 61, "key_frame_indices": [ 0, 48, 60 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34512.json" } }, { "id": "droid_molmo_sam2_episode_4737", "task": "Put the elastic around the bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4737/0000.jpg", "droid_molmo_sam2/images/episode_4737/0103.jpg", "droid_molmo_sam2/images/episode_4737/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the elastic around the bottle?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the elastic around the bottle, execute the following phases: 1) Initial approach phase (start at [0.559, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.565]). The trajectory involves 134 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4737", "trajectory_length": 134, "key_frame_indices": [ 0, 103, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4737.json" } }, { "id": "droid_molmo_sam2_episode_32528", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32528/0000.jpg", "droid_molmo_sam2/images/episode_32528/0163.jpg", "droid_molmo_sam2/images/episode_32528/0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.339, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.281]). The trajectory involves 232 precise waypoints with total movement distance of 0.735." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32528", "trajectory_length": 232, "key_frame_indices": [ 0, 163, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32528.json" } }, { "id": "droid_molmo_sam2_episode_38407", "task": "Unfold the green cloth on the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38407/0000.jpg", "droid_molmo_sam2/images/episode_38407/0110.jpg", "droid_molmo_sam2/images/episode_38407/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green cloth on the counter.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the green cloth on the counter., execute the following phases: 1) Initial approach phase (start at [0.525, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.611]). The trajectory involves 122 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38407", "trajectory_length": 122, "key_frame_indices": [ 0, 110, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38407.json" } }, { "id": "droid_molmo_sam2_episode_34755", "task": "Flip the red bottle upside down", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34755/0000.jpg", "droid_molmo_sam2/images/episode_34755/0347.jpg", "droid_molmo_sam2/images/episode_34755/0369.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the red bottle upside down?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the red bottle upside down, execute the following phases: 1) Initial approach phase (start at [0.609, 0.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.123]). The trajectory involves 370 precise waypoints with total movement distance of 1.059." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34755", "trajectory_length": 370, "key_frame_indices": [ 0, 347, 369 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34755.json" } }, { "id": "droid_molmo_sam2_episode_4539", "task": "Move the burgundy jacket to the top of the right chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4539/0000.jpg", "droid_molmo_sam2/images/episode_4539/0208.jpg", "droid_molmo_sam2/images/episode_4539/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the burgundy jacket to the top of the right chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the burgundy jacket to the top of the right chair, execute the following phases: 1) Initial approach phase (start at [0.806, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.902, 0.611]). The trajectory involves 223 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4539", "trajectory_length": 223, "key_frame_indices": [ 0, 208, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4539.json" } }, { "id": "droid_molmo_sam2_episode_990", "task": "Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_990/0000.jpg", "droid_molmo_sam2/images/episode_990/0199.jpg", "droid_molmo_sam2/images/episode_990/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.683, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.675, 0.964]). The trajectory involves 256 precise waypoints with total movement distance of 0.924." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_990", "trajectory_length": 256, "key_frame_indices": [ 0, 199, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_990.json" } }, { "id": "droid_molmo_sam2_episode_33517", "task": "Use the wooden spatula to stir the contents in the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33517/0000.jpg", "droid_molmo_sam2/images/episode_33517/0400.jpg", "droid_molmo_sam2/images/episode_33517/0516.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the wooden spatula to stir the contents in the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the wooden spatula to stir the contents in the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.593, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.656]). The trajectory involves 517 precise waypoints with total movement distance of 1.859." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33517", "trajectory_length": 517, "key_frame_indices": [ 0, 400, 516 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33517.json" } }, { "id": "droid_molmo_sam2_episode_30534", "task": "Pick up the two cloths from the chair back and put them on the sitting base of the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30534/0000.jpg", "droid_molmo_sam2/images/episode_30534/0252.jpg", "droid_molmo_sam2/images/episode_30534/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the two cloths from the chair back and put them on the sitting base of the chair.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the two cloths from the chair back and put them on the sitting base of the chair., execute the following phases: 1) Initial approach phase (start at [0.574, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 291 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30534", "trajectory_length": 291, "key_frame_indices": [ 0, 252, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30534.json" } }, { "id": "droid_molmo_sam2_episode_6656", "task": "Put the brown packet at the front inside the sink on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6656/0000.jpg", "droid_molmo_sam2/images/episode_6656/0112.jpg", "droid_molmo_sam2/images/episode_6656/0202.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_molmo_sam2 manipulation: Put the brown packet at the front inside the sink on the left., execute the following phases: 1) Initial approach phase (start at [0.322, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.950]). The trajectory involves 203 precise waypoints with total movement distance of 0.634." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6656", "trajectory_length": 203, "key_frame_indices": [ 0, 112, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6656.json" } }, { "id": "droid_molmo_sam2_episode_2017", "task": "Move the orange block backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2017/0000.jpg", "droid_molmo_sam2/images/episode_2017/0089.jpg", "droid_molmo_sam2/images/episode_2017/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange block backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange block backwards, execute the following phases: 1) Initial approach phase (start at [0.479, 0.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.304]). The trajectory involves 130 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2017", "trajectory_length": 130, "key_frame_indices": [ 0, 89, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2017.json" } }, { "id": "droid_molmo_sam2_episode_3181", "task": "Move the white charger to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3181/0000.jpg", "droid_molmo_sam2/images/episode_3181/0217.jpg", "droid_molmo_sam2/images/episode_3181/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white charger to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white charger to the left, execute the following phases: 1) Initial approach phase (start at [0.589, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.730]). The trajectory involves 253 precise waypoints with total movement distance of 0.204." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3181", "trajectory_length": 253, "key_frame_indices": [ 0, 217, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3181.json" } }, { "id": "droid_molmo_sam2_episode_31668", "task": "Remove the white cup of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31668/0000.jpg", "droid_molmo_sam2/images/episode_31668/0093.jpg", "droid_molmo_sam2/images/episode_31668/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cup of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cup of the sink, execute the following phases: 1) Initial approach phase (start at [0.510, 0.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.387]). The trajectory involves 130 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31668", "trajectory_length": 130, "key_frame_indices": [ 0, 93, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31668.json" } }, { "id": "droid_molmo_sam2_episode_6057", "task": "Put the red marker on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6057/0000.jpg", "droid_molmo_sam2/images/episode_6057/0155.jpg", "droid_molmo_sam2/images/episode_6057/0202.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_molmo_sam2 manipulation: Put the red marker on the table., execute the following phases: 1) Initial approach phase (start at [0.620, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.516]). The trajectory involves 203 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6057", "trajectory_length": 203, "key_frame_indices": [ 0, 155, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6057.json" } }, { "id": "droid_molmo_sam2_episode_1598", "task": "Press the switch on the adapter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1598/0000.jpg", "droid_molmo_sam2/images/episode_1598/0082.jpg", "droid_molmo_sam2/images/episode_1598/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the switch on the adapter?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the switch on the adapter, execute the following phases: 1) Initial approach phase (start at [0.543, 0.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.411]). The trajectory involves 143 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1598", "trajectory_length": 143, "key_frame_indices": [ 0, 82, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1598.json" } }, { "id": "droid_molmo_sam2_episode_31254", "task": "Move the tap to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31254/0000.jpg", "droid_molmo_sam2/images/episode_31254/0079.jpg", "droid_molmo_sam2/images/episode_31254/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.429, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.368]). The trajectory involves 102 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31254", "trajectory_length": 102, "key_frame_indices": [ 0, 79, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31254.json" } }, { "id": "droid_molmo_sam2_episode_36560", "task": "Move the bottle backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36560/0000.jpg", "droid_molmo_sam2/images/episode_36560/0107.jpg", "droid_molmo_sam2/images/episode_36560/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle backwards, execute the following phases: 1) Initial approach phase (start at [0.585, 0.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.295]). The trajectory involves 154 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36560", "trajectory_length": 154, "key_frame_indices": [ 0, 107, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36560.json" } }, { "id": "droid_molmo_sam2_episode_39020", "task": "Pick the marker and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39020/0000.jpg", "droid_molmo_sam2/images/episode_39020/0153.jpg", "droid_molmo_sam2/images/episode_39020/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker 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, execute the following phases: 1) Initial approach phase (start at [0.584, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.578]). The trajectory involves 170 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39020", "trajectory_length": 170, "key_frame_indices": [ 0, 153, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39020.json" } }, { "id": "droid_molmo_sam2_episode_4398", "task": "Turn the faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4398/0000.jpg", "droid_molmo_sam2/images/episode_4398/0128.jpg", "droid_molmo_sam2/images/episode_4398/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the faucet to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.623, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.585]). The trajectory involves 158 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4398", "trajectory_length": 158, "key_frame_indices": [ 0, 128, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4398.json" } }, { "id": "droid_molmo_sam2_episode_3168", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3168/0000.jpg", "droid_molmo_sam2/images/episode_3168/0041.jpg", "droid_molmo_sam2/images/episode_3168/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.437, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.545]). The trajectory involves 100 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3168", "trajectory_length": 100, "key_frame_indices": [ 0, 41, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3168.json" } }, { "id": "droid_molmo_sam2_episode_255", "task": "Put the black masking tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_255/0000.jpg", "droid_molmo_sam2/images/episode_255/0091.jpg", "droid_molmo_sam2/images/episode_255/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black masking tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black masking tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.562, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.389]). The trajectory involves 148 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_255", "trajectory_length": 148, "key_frame_indices": [ 0, 91, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_255.json" } }, { "id": "droid_molmo_sam2_episode_31051", "task": "Move the green object backward toward the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31051/0000.jpg", "droid_molmo_sam2/images/episode_31051/0061.jpg", "droid_molmo_sam2/images/episode_31051/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green object backward toward the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green object backward toward the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.440]). The trajectory involves 101 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31051", "trajectory_length": 101, "key_frame_indices": [ 0, 61, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31051.json" } }, { "id": "droid_molmo_sam2_episode_37156", "task": "Pick up the glass lid from the table and put it on the black pot.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37156/0000.jpg", "droid_molmo_sam2/images/episode_37156/0259.jpg", "droid_molmo_sam2/images/episode_37156/0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the glass lid from the table and put it on the black pot.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the glass lid from the table and put it on the black pot., execute the following phases: 1) Initial approach phase (start at [0.470, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.669, 0.526]). The trajectory involves 272 precise waypoints with total movement distance of 0.941." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37156", "trajectory_length": 272, "key_frame_indices": [ 0, 259, 271 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37156.json" } }, { "id": "droid_molmo_sam2_episode_4438", "task": "Move the cup to the right then to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4438/0000.jpg", "droid_molmo_sam2/images/episode_4438/0188.jpg", "droid_molmo_sam2/images/episode_4438/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the right then to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the right then to the left, execute the following phases: 1) Initial approach phase (start at [0.594, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.627]). The trajectory involves 244 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4438", "trajectory_length": 244, "key_frame_indices": [ 0, 188, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4438.json" } }, { "id": "droid_molmo_sam2_episode_39416", "task": "Pick up the pineapple plush toy from the middle compartment and put it on the top compartment.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39416/0000.jpg", "droid_molmo_sam2/images/episode_39416/0190.jpg", "droid_molmo_sam2/images/episode_39416/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pineapple plush toy from the middle compartment and put it on the top compartment.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pineapple plush toy from the middle compartment and put it on the top compartment., execute the following phases: 1) Initial approach phase (start at [0.413, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 229 precise waypoints with total movement distance of 2.635." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39416", "trajectory_length": 229, "key_frame_indices": [ 0, 190, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39416.json" } }, { "id": "droid_molmo_sam2_episode_33302", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33302/0000.jpg", "droid_molmo_sam2/images/episode_33302/0060.jpg", "droid_molmo_sam2/images/episode_33302/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.432, 0.715]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.547]). The trajectory involves 98 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33302", "trajectory_length": 98, "key_frame_indices": [ 0, 60, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33302.json" } }, { "id": "droid_molmo_sam2_episode_3245", "task": "Put the rectangular block on the right onto the one on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3245/0000.jpg", "droid_molmo_sam2/images/episode_3245/0001.jpg", "droid_molmo_sam2/images/episode_3245/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rectangular block on the right onto the one on the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rectangular block on the right onto the one on the left, execute the following phases: 1) Initial approach phase (start at [0.608, 0.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.615]). The trajectory involves 186 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3245", "trajectory_length": 186, "key_frame_indices": [ 0, 1, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3245.json" } }, { "id": "droid_molmo_sam2_episode_35673", "task": "Open the book on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35673/0000.jpg", "droid_molmo_sam2/images/episode_35673/0191.jpg", "droid_molmo_sam2/images/episode_35673/0429.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the book on the table?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the book on the table, execute the following phases: 1) Initial approach phase (start at [0.779, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.819]). The trajectory involves 430 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35673", "trajectory_length": 430, "key_frame_indices": [ 0, 191, 429 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35673.json" } }, { "id": "droid_molmo_sam2_episode_3870", "task": "Pick the black spoon near the red bowl and put it next to the tea towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3870/0000.jpg", "droid_molmo_sam2/images/episode_3870/0098.jpg", "droid_molmo_sam2/images/episode_3870/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the black spoon near the red bowl and put it next to the tea towel?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the black spoon near the red bowl and put it next to the tea towel, execute the following phases: 1) Initial approach phase (start at [0.479, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.879]). The trajectory involves 209 precise waypoints with total movement distance of 0.958." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3870", "trajectory_length": 209, "key_frame_indices": [ 0, 98, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3870.json" } }, { "id": "droid_molmo_sam2_episode_34911", "task": "Use the green towel to wipe the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34911/0000.jpg", "droid_molmo_sam2/images/episode_34911/0085.jpg", "droid_molmo_sam2/images/episode_34911/0248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the green towel to wipe the counter.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the green towel to wipe the counter., execute the following phases: 1) Initial approach phase (start at [0.336, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.821]). The trajectory involves 249 precise waypoints with total movement distance of 0.953." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34911", "trajectory_length": 249, "key_frame_indices": [ 0, 85, 248 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34911.json" } }, { "id": "droid_molmo_sam2_episode_32933", "task": "Move the bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32933/0000.jpg", "droid_molmo_sam2/images/episode_32933/0081.jpg", "droid_molmo_sam2/images/episode_32933/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.519, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.548]). The trajectory involves 114 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32933", "trajectory_length": 114, "key_frame_indices": [ 0, 81, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32933.json" } }, { "id": "droid_molmo_sam2_episode_3196", "task": "Pick up the remote control from the backrest and set it on the pillow.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3196/0000.jpg", "droid_molmo_sam2/images/episode_3196/0353.jpg", "droid_molmo_sam2/images/episode_3196/0388.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the remote control from the backrest and set it on the pillow.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the remote control from the backrest and set it on the pillow., execute the following phases: 1) Initial approach phase (start at [0.676, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.674, 0.655]). The trajectory involves 389 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3196", "trajectory_length": 389, "key_frame_indices": [ 0, 353, 388 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3196.json" } }, { "id": "droid_molmo_sam2_episode_38959", "task": "Set the striped pillows against the armrest", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38959/0000.jpg", "droid_molmo_sam2/images/episode_38959/0210.jpg", "droid_molmo_sam2/images/episode_38959/0584.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Set the striped pillows against the armrest?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Set the striped pillows against the armrest, execute the following phases: 1) Initial approach phase (start at [0.507, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.661]). The trajectory involves 585 precise waypoints with total movement distance of 1.215." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38959", "trajectory_length": 585, "key_frame_indices": [ 0, 210, 584 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38959.json" } }, { "id": "droid_molmo_sam2_episode_31237", "task": "Slide the cup on the table slightly to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31237/0000.jpg", "droid_molmo_sam2/images/episode_31237/0116.jpg", "droid_molmo_sam2/images/episode_31237/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cup on the table slightly to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cup on the table slightly to the right., execute the following phases: 1) Initial approach phase (start at [0.603, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.625, 0.515]). The trajectory involves 177 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31237", "trajectory_length": 177, "key_frame_indices": [ 0, 116, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31237.json" } }, { "id": "droid_molmo_sam2_episode_37990", "task": "Get the rightmost plate on the plate dryer and put it on top of the white plate on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37990/0000.jpg", "droid_molmo_sam2/images/episode_37990/0306.jpg", "droid_molmo_sam2/images/episode_37990/0436.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the rightmost plate on the plate dryer and put it on top of the white plate on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the rightmost plate on the plate dryer and put it on top of the white plate on the counter, execute the following phases: 1) Initial approach phase (start at [0.495, 0.943]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.959]). The trajectory involves 437 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37990", "trajectory_length": 437, "key_frame_indices": [ 0, 306, 436 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37990.json" } }, { "id": "droid_molmo_sam2_episode_12", "task": "Slide the lid on the wooden toy box to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_12/0000.jpg", "droid_molmo_sam2/images/episode_12/0103.jpg", "droid_molmo_sam2/images/episode_12/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the lid on the wooden toy box to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the lid on the wooden toy box to the right., execute the following phases: 1) Initial approach phase (start at [0.433, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.608]). The trajectory involves 181 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_12", "trajectory_length": 181, "key_frame_indices": [ 0, 103, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_12.json" } }, { "id": "droid_molmo_sam2_episode_3936", "task": "Move the stack of plates to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3936/0000.jpg", "droid_molmo_sam2/images/episode_3936/0135.jpg", "droid_molmo_sam2/images/episode_3936/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the stack of plates to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the stack of plates to the right, execute the following phases: 1) Initial approach phase (start at [0.319, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.462]). The trajectory involves 224 precise waypoints with total movement distance of 0.727." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3936", "trajectory_length": 224, "key_frame_indices": [ 0, 135, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3936.json" } }, { "id": "droid_molmo_sam2_episode_53", "task": "Press down on the coffeemaker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_53/0000.jpg", "droid_molmo_sam2/images/episode_53/0075.jpg", "droid_molmo_sam2/images/episode_53/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down on the coffeemaker?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down on the coffeemaker, execute the following phases: 1) Initial approach phase (start at [0.438, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.413]). The trajectory involves 170 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_53", "trajectory_length": 170, "key_frame_indices": [ 0, 75, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_53.json" } }, { "id": "droid_molmo_sam2_episode_6900", "task": "Put the can on the silver object.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6900/0000.jpg", "droid_molmo_sam2/images/episode_6900/0092.jpg", "droid_molmo_sam2/images/episode_6900/0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can on the silver object.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can on the silver object., execute the following phases: 1) Initial approach phase (start at [0.523, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.753]). The trajectory involves 182 precise waypoints with total movement distance of 0.519." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6900", "trajectory_length": 182, "key_frame_indices": [ 0, 92, 181 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6900.json" } }, { "id": "droid_molmo_sam2_episode_4533", "task": "Pick up the pen from the table and put it in the red mug cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4533/0000.jpg", "droid_molmo_sam2/images/episode_4533/0137.jpg", "droid_molmo_sam2/images/episode_4533/0203.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.?" }, { "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., execute the following phases: 1) Initial approach phase (start at [0.465, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.659]). The trajectory involves 204 precise waypoints with total movement distance of 0.757." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4533", "trajectory_length": 204, "key_frame_indices": [ 0, 137, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4533.json" } }, { "id": "droid_molmo_sam2_episode_7336", "task": "Open the cabinet and put the yellow objects in the bottom drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7336/0000.jpg", "droid_molmo_sam2/images/episode_7336/0463.jpg", "droid_molmo_sam2/images/episode_7336/0573.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cabinet and put the yellow objects in the bottom drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cabinet and put the yellow objects in the bottom drawer, execute the following phases: 1) Initial approach phase (start at [0.520, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 574 precise waypoints with total movement distance of 1.814." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7336", "trajectory_length": 574, "key_frame_indices": [ 0, 463, 573 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7336.json" } }, { "id": "droid_molmo_sam2_episode_36651", "task": "Put the cloth in the container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36651/0000.jpg", "droid_molmo_sam2/images/episode_36651/0143.jpg", "droid_molmo_sam2/images/episode_36651/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth in the container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth in the container, execute the following phases: 1) Initial approach phase (start at [0.584, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.573]). The trajectory involves 216 precise waypoints with total movement distance of 1.867." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36651", "trajectory_length": 216, "key_frame_indices": [ 0, 143, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36651.json" } }, { "id": "droid_molmo_sam2_episode_3128", "task": "Put the purple ball in the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3128/0000.jpg", "droid_molmo_sam2/images/episode_3128/0140.jpg", "droid_molmo_sam2/images/episode_3128/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple ball in the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple ball in the white bowl, execute the following phases: 1) Initial approach phase (start at [0.492, 0.942]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.704]). The trajectory involves 273 precise waypoints with total movement distance of 1.293." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3128", "trajectory_length": 273, "key_frame_indices": [ 0, 140, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3128.json" } }, { "id": "droid_molmo_sam2_episode_3627", "task": "Remove the purple plush toy from the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3627/0000.jpg", "droid_molmo_sam2/images/episode_3627/0121.jpg", "droid_molmo_sam2/images/episode_3627/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple plush toy from the plate?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple plush toy from the plate, execute the following phases: 1) Initial approach phase (start at [0.519, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.638]). The trajectory involves 166 precise waypoints with total movement distance of 0.761." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3627", "trajectory_length": 166, "key_frame_indices": [ 0, 121, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3627.json" } }, { "id": "droid_molmo_sam2_episode_6059", "task": "Place the lid on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6059/0000.jpg", "droid_molmo_sam2/images/episode_6059/0413.jpg", "droid_molmo_sam2/images/episode_6059/0475.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid on the table, execute the following phases: 1) Initial approach phase (start at [0.864, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.866, 0.783]). The trajectory involves 476 precise waypoints with total movement distance of 0.834." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6059", "trajectory_length": 476, "key_frame_indices": [ 0, 413, 475 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6059.json" } }, { "id": "droid_molmo_sam2_episode_507", "task": "Remove the rope from the platform", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_507/0000.jpg", "droid_molmo_sam2/images/episode_507/0164.jpg", "droid_molmo_sam2/images/episode_507/0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the rope from the platform?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the rope from the platform, execute the following phases: 1) Initial approach phase (start at [0.528, 0.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.442]). The trajectory involves 241 precise waypoints with total movement distance of 1.374." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_507", "trajectory_length": 241, "key_frame_indices": [ 0, 164, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_507.json" } }, { "id": "droid_molmo_sam2_episode_32212", "task": "Move the bowl forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32212/0000.jpg", "droid_molmo_sam2/images/episode_32212/0063.jpg", "droid_molmo_sam2/images/episode_32212/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl forward, execute the following phases: 1) Initial approach phase (start at [0.646, 0.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.719]). The trajectory involves 103 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32212", "trajectory_length": 103, "key_frame_indices": [ 0, 63, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32212.json" } }, { "id": "droid_molmo_sam2_episode_31574", "task": "Put the towel on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31574/0000.jpg", "droid_molmo_sam2/images/episode_31574/0150.jpg", "droid_molmo_sam2/images/episode_31574/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.580, 0.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.421]). The trajectory involves 179 precise waypoints with total movement distance of 0.971." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31574", "trajectory_length": 179, "key_frame_indices": [ 0, 150, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31574.json" } }, { "id": "droid_molmo_sam2_episode_3650", "task": "Move the maroon cap to the left on the gray cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3650/0000.jpg", "droid_molmo_sam2/images/episode_3650/0152.jpg", "droid_molmo_sam2/images/episode_3650/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the maroon cap to the left on the gray cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the maroon cap to the left on the gray cup, execute the following phases: 1) Initial approach phase (start at [0.673, 0.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.491]). The trajectory involves 193 precise waypoints with total movement distance of 2.510." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3650", "trajectory_length": 193, "key_frame_indices": [ 0, 152, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3650.json" } }, { "id": "droid_molmo_sam2_episode_3214", "task": "Put the blocks in the bowl beginning with the orange, yellow, then the green one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3214/0000.jpg", "droid_molmo_sam2/images/episode_3214/0291.jpg", "droid_molmo_sam2/images/episode_3214/0515.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blocks in the bowl beginning with the orange, yellow, then the green one?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blocks in the bowl beginning with the orange, yellow, then the green one, execute the following phases: 1) Initial approach phase (start at [0.541, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.816]). The trajectory involves 516 precise waypoints with total movement distance of 0.884." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3214", "trajectory_length": 516, "key_frame_indices": [ 0, 291, 515 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3214.json" } }, { "id": "droid_molmo_sam2_episode_4155", "task": "Close the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4155/0000.jpg", "droid_molmo_sam2/images/episode_4155/0182.jpg", "droid_molmo_sam2/images/episode_4155/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the box, execute the following phases: 1) Initial approach phase (start at [0.580, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 305 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4155", "trajectory_length": 305, "key_frame_indices": [ 0, 182, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4155.json" } }, { "id": "droid_molmo_sam2_episode_2632", "task": "Remove the marker from the cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2632/0000.jpg", "droid_molmo_sam2/images/episode_2632/0270.jpg", "droid_molmo_sam2/images/episode_2632/0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.596, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.638]). The trajectory involves 292 precise waypoints with total movement distance of 0.864." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2632", "trajectory_length": 292, "key_frame_indices": [ 0, 270, 291 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2632.json" } }, { "id": "droid_molmo_sam2_episode_30457", "task": "Move the white bowl forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30457/0000.jpg", "droid_molmo_sam2/images/episode_30457/0147.jpg", "droid_molmo_sam2/images/episode_30457/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white bowl forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white bowl forward, execute the following phases: 1) Initial approach phase (start at [0.240, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.651]). The trajectory involves 209 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30457", "trajectory_length": 209, "key_frame_indices": [ 0, 147, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30457.json" } }, { "id": "droid_molmo_sam2_episode_36638", "task": "Use the cloth to wipe the surface", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36638/0000.jpg", "droid_molmo_sam2/images/episode_36638/0198.jpg", "droid_molmo_sam2/images/episode_36638/0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the cloth to wipe the surface?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the cloth to wipe the surface, execute the following phases: 1) Initial approach phase (start at [0.506, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.851]). The trajectory involves 302 precise waypoints with total movement distance of 2.056." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36638", "trajectory_length": 302, "key_frame_indices": [ 0, 198, 301 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36638.json" } }, { "id": "droid_molmo_sam2_episode_2247", "task": "Slide the green cloth to the left on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2247/0000.jpg", "droid_molmo_sam2/images/episode_2247/0090.jpg", "droid_molmo_sam2/images/episode_2247/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green cloth to the left on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green cloth to the left on the counter, execute the following phases: 1) Initial approach phase (start at [0.504, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.415]). The trajectory involves 100 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2247", "trajectory_length": 100, "key_frame_indices": [ 0, 90, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2247.json" } }, { "id": "droid_molmo_sam2_episode_31651", "task": "Take the marker out of the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31651/0000.jpg", "droid_molmo_sam2/images/episode_31651/0132.jpg", "droid_molmo_sam2/images/episode_31651/0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.522, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.473]). The trajectory involves 200 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31651", "trajectory_length": 200, "key_frame_indices": [ 0, 132, 199 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31651.json" } }, { "id": "droid_molmo_sam2_episode_34325", "task": "Move the shoes slightly to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34325/0000.jpg", "droid_molmo_sam2/images/episode_34325/0344.jpg", "droid_molmo_sam2/images/episode_34325/0368.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the shoes slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the shoes slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.547, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.800]). The trajectory involves 369 precise waypoints with total movement distance of 1.500." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34325", "trajectory_length": 369, "key_frame_indices": [ 0, 344, 368 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34325.json" } }, { "id": "droid_molmo_sam2_episode_31029", "task": "Move the mug cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31029/0000.jpg", "droid_molmo_sam2/images/episode_31029/0076.jpg", "droid_molmo_sam2/images/episode_31029/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.585, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.650]). The trajectory involves 124 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31029", "trajectory_length": 124, "key_frame_indices": [ 0, 76, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31029.json" } }, { "id": "droid_molmo_sam2_episode_38667", "task": "Remove the green marker from the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38667/0000.jpg", "droid_molmo_sam2/images/episode_38667/0228.jpg", "droid_molmo_sam2/images/episode_38667/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green marker from the yellow mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green marker from the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.601, 0.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.296]). The trajectory involves 269 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38667", "trajectory_length": 269, "key_frame_indices": [ 0, 228, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38667.json" } }, { "id": "droid_molmo_sam2_episode_6562", "task": "Take the pen out of the bowl and put it on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6562/0000.jpg", "droid_molmo_sam2/images/episode_6562/0087.jpg", "droid_molmo_sam2/images/episode_6562/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and put it on the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the bowl and put it on the chair, execute the following phases: 1) Initial approach phase (start at [0.554, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.659]). The trajectory involves 199 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6562", "trajectory_length": 199, "key_frame_indices": [ 0, 87, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6562.json" } }, { "id": "droid_molmo_sam2_episode_37151", "task": "Remove the black object from the chair and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37151/0000.jpg", "droid_molmo_sam2/images/episode_37151/0220.jpg", "droid_molmo_sam2/images/episode_37151/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black object from the chair and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black object from the chair and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.876, 0.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 0.665]). The trajectory involves 266 precise waypoints with total movement distance of 1.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37151", "trajectory_length": 266, "key_frame_indices": [ 0, 220, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37151.json" } }, { "id": "droid_molmo_sam2_episode_3025", "task": "Put the yellow block inside the silver bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3025/0000.jpg", "droid_molmo_sam2/images/episode_3025/0073.jpg", "droid_molmo_sam2/images/episode_3025/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block inside the silver bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block inside the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.609, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.493]). The trajectory involves 124 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3025", "trajectory_length": 124, "key_frame_indices": [ 0, 73, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3025.json" } }, { "id": "droid_molmo_sam2_episode_31699", "task": "Put the blue cup in the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31699/0000.jpg", "droid_molmo_sam2/images/episode_31699/0062.jpg", "droid_molmo_sam2/images/episode_31699/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup in the orange cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cup in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.533, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.602]). The trajectory involves 109 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31699", "trajectory_length": 109, "key_frame_indices": [ 0, 62, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31699.json" } }, { "id": "droid_molmo_sam2_episode_34806", "task": "Close the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34806/0000.jpg", "droid_molmo_sam2/images/episode_34806/0107.jpg", "droid_molmo_sam2/images/episode_34806/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the box, execute the following phases: 1) Initial approach phase (start at [0.428, 0.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.736]). The trajectory involves 178 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34806", "trajectory_length": 178, "key_frame_indices": [ 0, 107, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34806.json" } }, { "id": "droid_molmo_sam2_episode_37920", "task": "Move the towel to the left of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37920/0000.jpg", "droid_molmo_sam2/images/episode_37920/0071.jpg", "droid_molmo_sam2/images/episode_37920/0086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the left of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the left of the table, execute the following phases: 1) Initial approach phase (start at [0.791, 0.747]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.464]). The trajectory involves 87 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37920", "trajectory_length": 87, "key_frame_indices": [ 0, 71, 86 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37920.json" } }, { "id": "droid_molmo_sam2_episode_4424", "task": "Move the cup backward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4424/0000.jpg", "droid_molmo_sam2/images/episode_4424/0089.jpg", "droid_molmo_sam2/images/episode_4424/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backward, execute the following phases: 1) Initial approach phase (start at [0.559, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.590]). The trajectory involves 133 precise waypoints with total movement distance of 0.347." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4424", "trajectory_length": 133, "key_frame_indices": [ 0, 89, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4424.json" } }, { "id": "droid_molmo_sam2_episode_7347", "task": "Place the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7347/0000.jpg", "droid_molmo_sam2/images/episode_7347/0074.jpg", "droid_molmo_sam2/images/episode_7347/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.643, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.443]). The trajectory involves 149 precise waypoints with total movement distance of 1.016." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7347", "trajectory_length": 149, "key_frame_indices": [ 0, 74, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7347.json" } }, { "id": "droid_molmo_sam2_episode_39728", "task": "Move the book forward.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39728/0000.jpg", "droid_molmo_sam2/images/episode_39728/0110.jpg", "droid_molmo_sam2/images/episode_39728/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the book forward.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the book forward., execute the following phases: 1) Initial approach phase (start at [0.333, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 0.521]). The trajectory involves 215 precise waypoints with total movement distance of 1.291." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39728", "trajectory_length": 215, "key_frame_indices": [ 0, 110, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39728.json" } }, { "id": "droid_molmo_sam2_episode_33525", "task": "Fold the white towel on the table twice, diagonally.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33525/0000.jpg", "droid_molmo_sam2/images/episode_33525/0271.jpg", "droid_molmo_sam2/images/episode_33525/0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white towel on the table twice, diagonally.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white towel on the table twice, diagonally., execute the following phases: 1) Initial approach phase (start at [0.590, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.615]). The trajectory involves 335 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33525", "trajectory_length": 335, "key_frame_indices": [ 0, 271, 334 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33525.json" } }, { "id": "droid_molmo_sam2_episode_49", "task": "Fold the blue shirt", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_49/0000.jpg", "droid_molmo_sam2/images/episode_49/0523.jpg", "droid_molmo_sam2/images/episode_49/0812.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the blue shirt?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the blue shirt, execute the following phases: 1) Initial approach phase (start at [0.550, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.827]). The trajectory involves 813 precise waypoints with total movement distance of 1.705." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_49", "trajectory_length": 813, "key_frame_indices": [ 0, 523, 812 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_49.json" } }, { "id": "droid_molmo_sam2_episode_33456", "task": "Remove the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33456/0000.jpg", "droid_molmo_sam2/images/episode_33456/0193.jpg", "droid_molmo_sam2/images/episode_33456/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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 and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.524, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.619]). The trajectory involves 218 precise waypoints with total movement distance of 0.998." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33456", "trajectory_length": 218, "key_frame_indices": [ 0, 193, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33456.json" } }, { "id": "droid_molmo_sam2_episode_33713", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33713/0000.jpg", "droid_molmo_sam2/images/episode_33713/0045.jpg", "droid_molmo_sam2/images/episode_33713/0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.536, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.457]). The trajectory involves 97 precise waypoints with total movement distance of 0.565." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33713", "trajectory_length": 97, "key_frame_indices": [ 0, 45, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33713.json" } }, { "id": "droid_molmo_sam2_episode_3248", "task": "Pick up the grey cutlery holder then set it back down on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3248/0000.jpg", "droid_molmo_sam2/images/episode_3248/0156.jpg", "droid_molmo_sam2/images/episode_3248/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey cutlery holder then set it back down on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the grey cutlery holder then set it back down on the countertop, execute the following phases: 1) Initial approach phase (start at [0.635, 0.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.436]). The trajectory involves 210 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3248", "trajectory_length": 210, "key_frame_indices": [ 0, 156, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3248.json" } }, { "id": "droid_molmo_sam2_episode_6159", "task": "Push the box to the right, then pick the cloth and shove it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6159/0000.jpg", "droid_molmo_sam2/images/episode_6159/0160.jpg", "droid_molmo_sam2/images/episode_6159/0738.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the box to the right, then pick the cloth and shove it in the box?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the box to the right, then pick the cloth and shove it in the box, execute the following phases: 1) Initial approach phase (start at [0.643, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.436]). The trajectory involves 739 precise waypoints with total movement distance of 9.656." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6159", "trajectory_length": 739, "key_frame_indices": [ 0, 160, 738 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6159.json" } }, { "id": "droid_molmo_sam2_episode_32568", "task": "Put the peach plushie on the top of the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32568/0000.jpg", "droid_molmo_sam2/images/episode_32568/0081.jpg", "droid_molmo_sam2/images/episode_32568/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peach plushie on the top of the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the peach plushie on the top of the shelf, execute the following phases: 1) Initial approach phase (start at [0.640, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.120]). The trajectory involves 120 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32568", "trajectory_length": 120, "key_frame_indices": [ 0, 81, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32568.json" } }, { "id": "droid_molmo_sam2_episode_6107", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6107/0000.jpg", "droid_molmo_sam2/images/episode_6107/0232.jpg", "droid_molmo_sam2/images/episode_6107/0644.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.401, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.515]). The trajectory involves 645 precise waypoints with total movement distance of 4.416." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6107", "trajectory_length": 645, "key_frame_indices": [ 0, 232, 644 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6107.json" } }, { "id": "droid_molmo_sam2_episode_6621", "task": "Move the tap nozzle from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6621/0000.jpg", "droid_molmo_sam2/images/episode_6621/0216.jpg", "droid_molmo_sam2/images/episode_6621/0370.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap nozzle from right to left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap nozzle from right to left, execute the following phases: 1) Initial approach phase (start at [0.567, 0.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.273]). The trajectory involves 371 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6621", "trajectory_length": 371, "key_frame_indices": [ 0, 216, 370 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6621.json" } }, { "id": "droid_molmo_sam2_episode_7266", "task": "Place the paper towel roll and blue sponge in the blue bowl on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7266/0000.jpg", "droid_molmo_sam2/images/episode_7266/0252.jpg", "droid_molmo_sam2/images/episode_7266/0620.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the paper towel roll and blue sponge in the blue bowl on the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the paper towel roll and blue sponge in the blue bowl on the left, execute the following phases: 1) Initial approach phase (start at [0.673, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.891]). The trajectory involves 621 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7266", "trajectory_length": 621, "key_frame_indices": [ 0, 252, 620 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7266.json" } }, { "id": "droid_molmo_sam2_episode_31139", "task": "Move the left shoe closer to the right one and put the right shoe on the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31139/0000.jpg", "droid_molmo_sam2/images/episode_31139/0144.jpg", "droid_molmo_sam2/images/episode_31139/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the left shoe closer to the right one and put the right shoe on the book?" }, { "from": "gpt", "value": "To complete this repositioning: Move the left shoe closer to the right one and put the right shoe on the book, execute the following phases: 1) Initial approach phase (start at [0.533, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.693]). The trajectory involves 312 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31139", "trajectory_length": 312, "key_frame_indices": [ 0, 144, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31139.json" } }, { "id": "droid_molmo_sam2_episode_3529", "task": "Open the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3529/0000.jpg", "droid_molmo_sam2/images/episode_3529/0126.jpg", "droid_molmo_sam2/images/episode_3529/0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the box, execute the following phases: 1) Initial approach phase (start at [0.544, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 155 precise waypoints with total movement distance of 1.017." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3529", "trajectory_length": 155, "key_frame_indices": [ 0, 126, 154 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3529.json" } }, { "id": "droid_molmo_sam2_episode_4638", "task": "place the lid on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4638/0000.jpg", "droid_molmo_sam2/images/episode_4638/0210.jpg", "droid_molmo_sam2/images/episode_4638/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: place the lid on the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: place the lid on the bowl, execute the following phases: 1) Initial approach phase (start at [0.850, 0.941]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.697, 0.867]). The trajectory involves 305 precise waypoints with total movement distance of 1.051." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4638", "trajectory_length": 305, "key_frame_indices": [ 0, 210, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4638.json" } }, { "id": "droid_molmo_sam2_episode_30853", "task": "Pick up the green object from the table and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30853/0000.jpg", "droid_molmo_sam2/images/episode_30853/0063.jpg", "droid_molmo_sam2/images/episode_30853/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object from the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.726, 0.787]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.681]). The trajectory involves 86 precise waypoints with total movement distance of 1.447." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30853", "trajectory_length": 86, "key_frame_indices": [ 0, 63, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30853.json" } }, { "id": "droid_molmo_sam2_episode_7265", "task": "Move the pan to the stove plate on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7265/0000.jpg", "droid_molmo_sam2/images/episode_7265/0121.jpg", "droid_molmo_sam2/images/episode_7265/0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pan to the stove plate on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pan to the stove plate on the right, execute the following phases: 1) Initial approach phase (start at [0.257, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.558]). The trajectory involves 290 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7265", "trajectory_length": 290, "key_frame_indices": [ 0, 121, 289 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7265.json" } }, { "id": "droid_molmo_sam2_episode_3102", "task": "Put the plush in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3102/0000.jpg", "droid_molmo_sam2/images/episode_3102/0189.jpg", "droid_molmo_sam2/images/episode_3102/0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the plush in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the plush in the bowl, execute the following phases: 1) Initial approach phase (start at [0.422, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.898]). The trajectory involves 260 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3102", "trajectory_length": 260, "key_frame_indices": [ 0, 189, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3102.json" } }, { "id": "droid_molmo_sam2_episode_30144", "task": "Take the marker out of the glass and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30144/0000.jpg", "droid_molmo_sam2/images/episode_30144/0177.jpg", "droid_molmo_sam2/images/episode_30144/0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the glass and put it on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the glass and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.602, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.651]). The trajectory involves 248 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30144", "trajectory_length": 248, "key_frame_indices": [ 0, 177, 247 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30144.json" } }, { "id": "droid_molmo_sam2_episode_2863", "task": "Pick up the bottle of vinegar from the bottom shelf and place it in the basket on the washing machine.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2863/0000.jpg", "droid_molmo_sam2/images/episode_2863/0245.jpg", "droid_molmo_sam2/images/episode_2863/0269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle of vinegar from the bottom shelf and place it in the basket on the washing machine.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle of vinegar from the bottom shelf and place it in the basket on the washing machine., execute the following phases: 1) Initial approach phase (start at [0.393, 0.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.491]). The trajectory involves 270 precise waypoints with total movement distance of 0.905." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2863", "trajectory_length": 270, "key_frame_indices": [ 0, 245, 269 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2863.json" } }, { "id": "droid_molmo_sam2_episode_2763", "task": "Move the blue cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2763/0000.jpg", "droid_molmo_sam2/images/episode_2763/0068.jpg", "droid_molmo_sam2/images/episode_2763/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cup to the left, execute the following phases: 1) Initial approach phase (start at [0.574, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.513]). The trajectory involves 113 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2763", "trajectory_length": 113, "key_frame_indices": [ 0, 68, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2763.json" } }, { "id": "droid_molmo_sam2_episode_3229", "task": "Press a button on the air fryer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3229/0000.jpg", "droid_molmo_sam2/images/episode_3229/0075.jpg", "droid_molmo_sam2/images/episode_3229/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the air fryer?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the air fryer, execute the following phases: 1) Initial approach phase (start at [0.800, 0.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.727, 0.526]). The trajectory involves 176 precise waypoints with total movement distance of 0.814." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3229", "trajectory_length": 176, "key_frame_indices": [ 0, 75, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3229.json" } }, { "id": "droid_molmo_sam2_episode_6097", "task": "Put the orange block on the green one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6097/0000.jpg", "droid_molmo_sam2/images/episode_6097/0067.jpg", "droid_molmo_sam2/images/episode_6097/0100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the green one?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on the green one, execute the following phases: 1) Initial approach phase (start at [0.553, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.564]). The trajectory involves 101 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6097", "trajectory_length": 101, "key_frame_indices": [ 0, 67, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6097.json" } }, { "id": "droid_molmo_sam2_episode_6765", "task": "Open the top bedroom drawer fully", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6765/0000.jpg", "droid_molmo_sam2/images/episode_6765/0162.jpg", "droid_molmo_sam2/images/episode_6765/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top bedroom drawer fully?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top bedroom drawer fully, execute the following phases: 1) Initial approach phase (start at [0.464, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.779]). The trajectory involves 226 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6765", "trajectory_length": 226, "key_frame_indices": [ 0, 162, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6765.json" } }, { "id": "droid_molmo_sam2_episode_3005", "task": "Put the glue stick in the mug cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3005/0000.jpg", "droid_molmo_sam2/images/episode_3005/0265.jpg", "droid_molmo_sam2/images/episode_3005/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glue stick in the mug cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glue stick in the mug cup, execute the following phases: 1) Initial approach phase (start at [0.536, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.551]). The trajectory involves 291 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3005", "trajectory_length": 291, "key_frame_indices": [ 0, 265, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3005.json" } }, { "id": "droid_molmo_sam2_episode_6924", "task": "Move the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6924/0000.jpg", "droid_molmo_sam2/images/episode_6924/0075.jpg", "droid_molmo_sam2/images/episode_6924/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.304, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.602]). The trajectory involves 112 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6924", "trajectory_length": 112, "key_frame_indices": [ 0, 75, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6924.json" } }, { "id": "droid_molmo_sam2_episode_6208", "task": "Put the beetroot and the blocks in the bowl then move the apple to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6208/0000.jpg", "droid_molmo_sam2/images/episode_6208/0742.jpg", "droid_molmo_sam2/images/episode_6208/0815.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the beetroot and the blocks in the bowl then move the apple to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Put the beetroot and the blocks in the bowl then move the apple to the right, execute the following phases: 1) Initial approach phase (start at [0.574, 0.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.727, 0.257]). The trajectory involves 816 precise waypoints with total movement distance of 3.943." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6208", "trajectory_length": 816, "key_frame_indices": [ 0, 742, 815 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6208.json" } }, { "id": "droid_molmo_sam2_episode_38035", "task": "Put the case on the cloth directly on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38035/0000.jpg", "droid_molmo_sam2/images/episode_38035/0435.jpg", "droid_molmo_sam2/images/episode_38035/0652.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the case on the cloth directly on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the case on the cloth directly on the table, execute the following phases: 1) Initial approach phase (start at [0.262, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.262, 0.899]). The trajectory involves 653 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38035", "trajectory_length": 653, "key_frame_indices": [ 0, 435, 652 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38035.json" } }, { "id": "droid_molmo_sam2_episode_35400", "task": "Put the yellow pillow on the TV stand.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35400/0000.jpg", "droid_molmo_sam2/images/episode_35400/0204.jpg", "droid_molmo_sam2/images/episode_35400/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow pillow on the TV stand.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow pillow on the TV stand., execute the following phases: 1) Initial approach phase (start at [0.592, 0.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.801]). The trajectory involves 291 precise waypoints with total movement distance of 1.208." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35400", "trajectory_length": 291, "key_frame_indices": [ 0, 204, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35400.json" } }, { "id": "droid_molmo_sam2_episode_37910", "task": "Wipe the right arm rest up and down its length using the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37910/0000.jpg", "droid_molmo_sam2/images/episode_37910/0433.jpg", "droid_molmo_sam2/images/episode_37910/0448.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the right arm rest up and down its length using the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the right arm rest up and down its length using the towel, execute the following phases: 1) Initial approach phase (start at [0.618, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.966]). The trajectory involves 449 precise waypoints with total movement distance of 2.217." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37910", "trajectory_length": 449, "key_frame_indices": [ 0, 433, 448 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37910.json" } }, { "id": "droid_molmo_sam2_episode_1416", "task": "Close the left top drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1416/0000.jpg", "droid_molmo_sam2/images/episode_1416/0062.jpg", "droid_molmo_sam2/images/episode_1416/0068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the left top drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the left top drawer, execute the following phases: 1) Initial approach phase (start at [0.485, 0.627]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.599]). The trajectory involves 69 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1416", "trajectory_length": 69, "key_frame_indices": [ 0, 62, 68 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1416.json" } }, { "id": "droid_molmo_sam2_episode_111", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_111/0000.jpg", "droid_molmo_sam2/images/episode_111/0130.jpg", "droid_molmo_sam2/images/episode_111/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.402, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.676]). The trajectory involves 153 precise waypoints with total movement distance of 1.125." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_111", "trajectory_length": 153, "key_frame_indices": [ 0, 130, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_111.json" } }, { "id": "droid_molmo_sam2_episode_6796", "task": "Pour the contents from the orange cup into the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6796/0000.jpg", "droid_molmo_sam2/images/episode_6796/0089.jpg", "droid_molmo_sam2/images/episode_6796/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents from the orange cup into the bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents from the orange cup into the bowl., execute the following phases: 1) Initial approach phase (start at [0.494, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 136 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6796", "trajectory_length": 136, "key_frame_indices": [ 0, 89, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6796.json" } }, { "id": "droid_molmo_sam2_episode_1132", "task": "Move the white-blue cup forward and put the pink lid in its place", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1132/0000.jpg", "droid_molmo_sam2/images/episode_1132/0105.jpg", "droid_molmo_sam2/images/episode_1132/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white-blue cup forward and put the pink lid in its place?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white-blue cup forward and put the pink lid in its place, execute the following phases: 1) Initial approach phase (start at [0.609, 0.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.513]). The trajectory involves 266 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1132", "trajectory_length": 266, "key_frame_indices": [ 0, 105, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1132.json" } }, { "id": "droid_molmo_sam2_episode_34805", "task": "Remove the white marker from the silver pot and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34805/0000.jpg", "droid_molmo_sam2/images/episode_34805/0146.jpg", "droid_molmo_sam2/images/episode_34805/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white marker from the silver pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white marker from the silver pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.501, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.432]). The trajectory involves 222 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34805", "trajectory_length": 222, "key_frame_indices": [ 0, 146, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34805.json" } }, { "id": "droid_molmo_sam2_episode_1210", "task": "Pick up the piece of orange plush toy and put it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1210/0000.jpg", "droid_molmo_sam2/images/episode_1210/0206.jpg", "droid_molmo_sam2/images/episode_1210/0246.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the piece of orange plush toy and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.618, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.425]). The trajectory involves 247 precise waypoints with total movement distance of 1.429." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1210", "trajectory_length": 247, "key_frame_indices": [ 0, 206, 246 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1210.json" } }, { "id": "droid_molmo_sam2_episode_37400", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37400/0000.jpg", "droid_molmo_sam2/images/episode_37400/0094.jpg", "droid_molmo_sam2/images/episode_37400/0146.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.409, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.449]). The trajectory involves 147 precise waypoints with total movement distance of 1.140." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37400", "trajectory_length": 147, "key_frame_indices": [ 0, 94, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37400.json" } }, { "id": "droid_molmo_sam2_episode_31839", "task": "Fold the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31839/0000.jpg", "droid_molmo_sam2/images/episode_31839/0081.jpg", "droid_molmo_sam2/images/episode_31839/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.726, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 0.687]). The trajectory involves 237 precise waypoints with total movement distance of 0.887." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31839", "trajectory_length": 237, "key_frame_indices": [ 0, 81, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31839.json" } }, { "id": "droid_molmo_sam2_episode_286", "task": "Remove the blue packet from the sink on the left and put it on the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_286/0000.jpg", "droid_molmo_sam2/images/episode_286/0095.jpg", "droid_molmo_sam2/images/episode_286/0180.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 [0.505, 0.901]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.815]). The trajectory involves 181 precise waypoints with total movement distance of 1.064." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_286", "trajectory_length": 181, "key_frame_indices": [ 0, 95, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_286.json" } }, { "id": "droid_molmo_sam2_episode_20", "task": "Open the microwave door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_20/0000.jpg", "droid_molmo_sam2/images/episode_20/0123.jpg", "droid_molmo_sam2/images/episode_20/0134.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 [0.531, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.730]). The trajectory involves 135 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_20", "trajectory_length": 135, "key_frame_indices": [ 0, 123, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_20.json" } }, { "id": "droid_molmo_sam2_episode_3563", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3563/0000.jpg", "droid_molmo_sam2/images/episode_3563/0093.jpg", "droid_molmo_sam2/images/episode_3563/0119.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 [0.656, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.495]). The trajectory involves 120 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3563", "trajectory_length": 120, "key_frame_indices": [ 0, 93, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3563.json" } }, { "id": "droid_molmo_sam2_episode_38029", "task": "Close the drawer on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38029/0000.jpg", "droid_molmo_sam2/images/episode_38029/0092.jpg", "droid_molmo_sam2/images/episode_38029/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer on the left.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer on the left., execute the following phases: 1) Initial approach phase (start at [0.188, 0.894]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.152, 0.858]). The trajectory involves 196 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38029", "trajectory_length": 196, "key_frame_indices": [ 0, 92, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38029.json" } }, { "id": "droid_molmo_sam2_episode_34499", "task": "Close the bottom drawer of the left file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34499/0000.jpg", "droid_molmo_sam2/images/episode_34499/0064.jpg", "droid_molmo_sam2/images/episode_34499/0073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the left file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the left file cabinet, execute the following phases: 1) Initial approach phase (start at [0.494, 0.945]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.945]). The trajectory involves 74 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34499", "trajectory_length": 74, "key_frame_indices": [ 0, 64, 73 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34499.json" } }, { "id": "droid_molmo_sam2_episode_36354", "task": "Remove the marker from the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36354/0000.jpg", "droid_molmo_sam2/images/episode_36354/0104.jpg", "droid_molmo_sam2/images/episode_36354/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup, execute the following phases: 1) Initial approach phase (start at [0.381, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.819]). The trajectory involves 137 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36354", "trajectory_length": 137, "key_frame_indices": [ 0, 104, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36354.json" } }, { "id": "droid_molmo_sam2_episode_3968", "task": "Put the green plush toy in the blue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3968/0000.jpg", "droid_molmo_sam2/images/episode_3968/0161.jpg", "droid_molmo_sam2/images/episode_3968/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green plush toy in the blue box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green plush toy in the blue box, execute the following phases: 1) Initial approach phase (start at [0.460, 0.905]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 179 precise waypoints with total movement distance of 1.621." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3968", "trajectory_length": 179, "key_frame_indices": [ 0, 161, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3968.json" } }, { "id": "droid_molmo_sam2_episode_3224", "task": "Turn the light on, open the door then turn off the light", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3224/0000.jpg", "droid_molmo_sam2/images/episode_3224/0556.jpg", "droid_molmo_sam2/images/episode_3224/0671.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the light on, open the door then turn off the light?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Turn the light on, open the door then turn off the light, execute the following phases: 1) Initial approach phase (start at [0.456, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.426]). The trajectory involves 672 precise waypoints with total movement distance of 2.480." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3224", "trajectory_length": 672, "key_frame_indices": [ 0, 556, 671 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3224.json" } }, { "id": "droid_molmo_sam2_episode_34539", "task": "Put the carrot plush in the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34539/0000.jpg", "droid_molmo_sam2/images/episode_34539/0154.jpg", "droid_molmo_sam2/images/episode_34539/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush in the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plush in the pot, execute the following phases: 1) Initial approach phase (start at [0.642, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.716]). The trajectory involves 164 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34539", "trajectory_length": 164, "key_frame_indices": [ 0, 154, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34539.json" } }, { "id": "droid_molmo_sam2_episode_3160", "task": "Place the case on the chair's right arm", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3160/0000.jpg", "droid_molmo_sam2/images/episode_3160/0222.jpg", "droid_molmo_sam2/images/episode_3160/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the case on the chair's right arm?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the case on the chair's right arm, execute the following phases: 1) Initial approach phase (start at [0.525, 0.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.400]). The trajectory involves 273 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3160", "trajectory_length": 273, "key_frame_indices": [ 0, 222, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3160.json" } }, { "id": "droid_molmo_sam2_episode_2396", "task": "Take the orange cup and place it in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2396/0000.jpg", "droid_molmo_sam2/images/episode_2396/0099.jpg", "droid_molmo_sam2/images/episode_2396/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange cup and place it in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the orange cup and place it in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.516, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.561]). The trajectory involves 126 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2396", "trajectory_length": 126, "key_frame_indices": [ 0, 99, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2396.json" } }, { "id": "droid_molmo_sam2_episode_39000", "task": "Put the pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39000/0000.jpg", "droid_molmo_sam2/images/episode_39000/0151.jpg", "droid_molmo_sam2/images/episode_39000/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.807, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.108]). The trajectory involves 237 precise waypoints with total movement distance of 2.101." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39000", "trajectory_length": 237, "key_frame_indices": [ 0, 151, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39000.json" } }, { "id": "droid_molmo_sam2_episode_30602", "task": "Put the purple grapes toy in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30602/0000.jpg", "droid_molmo_sam2/images/episode_30602/0082.jpg", "droid_molmo_sam2/images/episode_30602/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple grapes toy in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple grapes toy in the bowl, execute the following phases: 1) Initial approach phase (start at [0.653, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.471]). The trajectory involves 109 precise waypoints with total movement distance of 0.485." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30602", "trajectory_length": 109, "key_frame_indices": [ 0, 82, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30602.json" } }, { "id": "droid_molmo_sam2_episode_37213", "task": "Move the yellow mug backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37213/0000.jpg", "droid_molmo_sam2/images/episode_37213/0141.jpg", "droid_molmo_sam2/images/episode_37213/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug backwards, execute the following phases: 1) Initial approach phase (start at [0.523, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.384]). The trajectory involves 183 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37213", "trajectory_length": 183, "key_frame_indices": [ 0, 141, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37213.json" } }, { "id": "droid_molmo_sam2_episode_3874", "task": "Place the pink plate on the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3874/0000.jpg", "droid_molmo_sam2/images/episode_3874/0186.jpg", "droid_molmo_sam2/images/episode_3874/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pink plate on the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the pink plate on the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.749, 0.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.713, 0.467]). The trajectory involves 202 precise waypoints with total movement distance of 0.443." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3874", "trajectory_length": 202, "key_frame_indices": [ 0, 186, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3874.json" } }, { "id": "droid_molmo_sam2_episode_34121", "task": "Move the kettle closer to the edge near you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34121/0000.jpg", "droid_molmo_sam2/images/episode_34121/0315.jpg", "droid_molmo_sam2/images/episode_34121/0380.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the kettle closer to the edge near you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the kettle closer to the edge near you, execute the following phases: 1) Initial approach phase (start at [0.634, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.697, 0.925]). The trajectory involves 381 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34121", "trajectory_length": 381, "key_frame_indices": [ 0, 315, 380 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34121.json" } }, { "id": "droid_molmo_sam2_episode_4407", "task": "Put the white towel on top of the black bar", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4407/0000.jpg", "droid_molmo_sam2/images/episode_4407/0118.jpg", "droid_molmo_sam2/images/episode_4407/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel on top of the black bar?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel on top of the black bar, execute the following phases: 1) Initial approach phase (start at [0.454, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.339]). The trajectory involves 179 precise waypoints with total movement distance of 0.634." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4407", "trajectory_length": 179, "key_frame_indices": [ 0, 118, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4407.json" } }, { "id": "droid_molmo_sam2_episode_31248", "task": "Unfold the towel once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31248/0000.jpg", "droid_molmo_sam2/images/episode_31248/0542.jpg", "droid_molmo_sam2/images/episode_31248/0881.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel once, execute the following phases: 1) Initial approach phase (start at [0.685, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.723]). The trajectory involves 882 precise waypoints with total movement distance of 3.146." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31248", "trajectory_length": 882, "key_frame_indices": [ 0, 542, 881 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31248.json" } }, { "id": "droid_molmo_sam2_episode_7038", "task": "Open the lid of the colourless electric kettle.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7038/0000.jpg", "droid_molmo_sam2/images/episode_7038/0103.jpg", "droid_molmo_sam2/images/episode_7038/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the colourless electric kettle.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the colourless electric kettle., execute the following phases: 1) Initial approach phase (start at [0.467, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.348]). The trajectory involves 143 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7038", "trajectory_length": 143, "key_frame_indices": [ 0, 103, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7038.json" } }, { "id": "droid_molmo_sam2_episode_7465", "task": "Put the marker in the yellow mug cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7465/0000.jpg", "droid_molmo_sam2/images/episode_7465/0058.jpg", "droid_molmo_sam2/images/episode_7465/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the yellow mug cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the yellow mug cup, execute the following phases: 1) Initial approach phase (start at [0.515, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.425]). The trajectory involves 194 precise waypoints with total movement distance of 0.742." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7465", "trajectory_length": 194, "key_frame_indices": [ 0, 58, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7465.json" } }, { "id": "droid_molmo_sam2_episode_4563", "task": "Pick the green object and move it to the left on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4563/0000.jpg", "droid_molmo_sam2/images/episode_4563/0067.jpg", "droid_molmo_sam2/images/episode_4563/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the green object and move it to the left on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the green object and move it to the left on the counter, execute the following phases: 1) Initial approach phase (start at [0.643, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.579]). The trajectory involves 118 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4563", "trajectory_length": 118, "key_frame_indices": [ 0, 67, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4563.json" } }, { "id": "droid_molmo_sam2_episode_31019", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31019/0000.jpg", "droid_molmo_sam2/images/episode_31019/0053.jpg", "droid_molmo_sam2/images/episode_31019/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.476, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.611]). The trajectory involves 107 precise waypoints with total movement distance of 0.858." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31019", "trajectory_length": 107, "key_frame_indices": [ 0, 53, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31019.json" } }, { "id": "droid_molmo_sam2_episode_37279", "task": "Roll the handle of the Foosball table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37279/0000.jpg", "droid_molmo_sam2/images/episode_37279/0138.jpg", "droid_molmo_sam2/images/episode_37279/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Roll the handle of the Foosball table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Roll the handle of the Foosball table, execute the following phases: 1) Initial approach phase (start at [0.735, 0.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.734, 0.481]). The trajectory involves 148 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37279", "trajectory_length": 148, "key_frame_indices": [ 0, 138, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37279.json" } }, { "id": "droid_molmo_sam2_episode_7084", "task": "Move the leaflet to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7084/0000.jpg", "droid_molmo_sam2/images/episode_7084/0178.jpg", "droid_molmo_sam2/images/episode_7084/0323.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the leaflet to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the leaflet to the left, execute the following phases: 1) Initial approach phase (start at [0.643, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.795]). The trajectory involves 324 precise waypoints with total movement distance of 0.420." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7084", "trajectory_length": 324, "key_frame_indices": [ 0, 178, 323 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7084.json" } }, { "id": "droid_molmo_sam2_episode_50", "task": "Stack the pillows at the edge of the sofa.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_50/0000.jpg", "droid_molmo_sam2/images/episode_50/0529.jpg", "droid_molmo_sam2/images/episode_50/0911.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the pillows at the edge of the sofa.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the pillows at the edge of the sofa., execute the following phases: 1) Initial approach phase (start at [0.543, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.679]). The trajectory involves 912 precise waypoints with total movement distance of 1.973." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_50", "trajectory_length": 912, "key_frame_indices": [ 0, 529, 911 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_50.json" } }, { "id": "droid_molmo_sam2_episode_7127", "task": "Pick up the cup and put it inside the other cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7127/0000.jpg", "droid_molmo_sam2/images/episode_7127/0043.jpg", "droid_molmo_sam2/images/episode_7127/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup and put it inside the other cups?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup and put it inside the other cups, execute the following phases: 1) Initial approach phase (start at [0.548, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.554]). The trajectory involves 216 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7127", "trajectory_length": 216, "key_frame_indices": [ 0, 43, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7127.json" } }, { "id": "droid_molmo_sam2_episode_6201", "task": "Pick up the pink coffee capsule from the counter and put it in the blue bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6201/0000.jpg", "droid_molmo_sam2/images/episode_6201/0322.jpg", "droid_molmo_sam2/images/episode_6201/0416.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pink coffee capsule from the counter and put it in the blue bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pink coffee capsule from the counter and put it in the blue bag, execute the following phases: 1) Initial approach phase (start at [0.343, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 417 precise waypoints with total movement distance of 2.278." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6201", "trajectory_length": 417, "key_frame_indices": [ 0, 322, 416 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6201.json" } }, { "id": "droid_molmo_sam2_episode_39425", "task": "Put the remote control on the backrest of the sofa on the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39425/0000.jpg", "droid_molmo_sam2/images/episode_39425/0180.jpg", "droid_molmo_sam2/images/episode_39425/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the remote control on the backrest of the sofa on the right.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the remote control on the backrest of the sofa on the right., execute the following phases: 1) Initial approach phase (start at [0.504, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.467]). The trajectory involves 291 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39425", "trajectory_length": 291, "key_frame_indices": [ 0, 180, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39425.json" } }, { "id": "droid_molmo_sam2_episode_37639", "task": "Remove the marker from the bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37639/0000.jpg", "droid_molmo_sam2/images/episode_37639/0121.jpg", "droid_molmo_sam2/images/episode_37639/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.823, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.514]). The trajectory involves 183 precise waypoints with total movement distance of 1.069." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37639", "trajectory_length": 183, "key_frame_indices": [ 0, 121, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37639.json" } }, { "id": "droid_molmo_sam2_episode_6657", "task": "Use the tea towel to wipe the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6657/0000.jpg", "droid_molmo_sam2/images/episode_6657/0607.jpg", "droid_molmo_sam2/images/episode_6657/0715.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the tea towel to wipe the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the tea towel to wipe the plate, execute the following phases: 1) Initial approach phase (start at [0.289, 0.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.288]). The trajectory involves 716 precise waypoints with total movement distance of 2.713." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6657", "trajectory_length": 716, "key_frame_indices": [ 0, 607, 715 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6657.json" } }, { "id": "droid_molmo_sam2_episode_37293", "task": "Move the blue bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37293/0000.jpg", "droid_molmo_sam2/images/episode_37293/0126.jpg", "droid_molmo_sam2/images/episode_37293/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.473, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.605]). The trajectory involves 233 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37293", "trajectory_length": 233, "key_frame_indices": [ 0, 126, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37293.json" } }, { "id": "droid_molmo_sam2_episode_30690", "task": "Put the pen in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30690/0000.jpg", "droid_molmo_sam2/images/episode_30690/0223.jpg", "droid_molmo_sam2/images/episode_30690/0318.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the mug, execute the following phases: 1) Initial approach phase (start at [0.581, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 319 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30690", "trajectory_length": 319, "key_frame_indices": [ 0, 223, 318 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30690.json" } }, { "id": "droid_molmo_sam2_episode_31533", "task": "Fold the sweatshirt once", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31533/0000.jpg", "droid_molmo_sam2/images/episode_31533/0177.jpg", "droid_molmo_sam2/images/episode_31533/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the sweatshirt once?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the sweatshirt once, execute the following phases: 1) Initial approach phase (start at [0.647, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.388]). The trajectory involves 228 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31533", "trajectory_length": 228, "key_frame_indices": [ 0, 177, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31533.json" } }, { "id": "droid_molmo_sam2_episode_6778", "task": "Stir the contents in the flusk.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6778/0000.jpg", "droid_molmo_sam2/images/episode_6778/0317.jpg", "droid_molmo_sam2/images/episode_6778/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stir the contents in the flusk.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stir the contents in the flusk., execute the following phases: 1) Initial approach phase (start at [0.863, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.902, 0.782]). The trajectory involves 341 precise waypoints with total movement distance of 1.028." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6778", "trajectory_length": 341, "key_frame_indices": [ 0, 317, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6778.json" } }, { "id": "droid_molmo_sam2_episode_33955", "task": "Move the blue bottle to the other side of the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33955/0000.jpg", "droid_molmo_sam2/images/episode_33955/0092.jpg", "droid_molmo_sam2/images/episode_33955/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the other side of the book?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the other side of the book, execute the following phases: 1) Initial approach phase (start at [0.375, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.698]). The trajectory involves 166 precise waypoints with total movement distance of 0.685." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33955", "trajectory_length": 166, "key_frame_indices": [ 0, 92, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33955.json" } }, { "id": "droid_molmo_sam2_episode_7093", "task": "Pick up the grey tape from the holder and put it on the table. Pick up the two tapes from the table and put them on the holder.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7093/0000.jpg", "droid_molmo_sam2/images/episode_7093/0471.jpg", "droid_molmo_sam2/images/episode_7093/0933.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey tape from the holder and put it on the table. Pick up the two tapes from the table and put them on the holder.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the grey tape from the holder and put it on the table. Pick up the two tapes from the table and put them on the holder., execute the following phases: 1) Initial approach phase (start at [0.651, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.806, 0.324]). The trajectory involves 934 precise waypoints with total movement distance of 2.131." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7093", "trajectory_length": 934, "key_frame_indices": [ 0, 471, 933 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7093.json" } }, { "id": "droid_molmo_sam2_episode_6027", "task": "Pick up the screwdriver from the top of the cabinet, put it in the drawer and close the drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6027/0000.jpg", "droid_molmo_sam2/images/episode_6027/0070.jpg", "droid_molmo_sam2/images/episode_6027/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the screwdriver from the top of the cabinet, put it in the drawer and close the drawer.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the screwdriver from the top of the cabinet, put it in the drawer and close the drawer., execute the following phases: 1) Initial approach phase (start at [0.558, 0.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 158 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6027", "trajectory_length": 158, "key_frame_indices": [ 0, 70, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6027.json" } }, { "id": "droid_molmo_sam2_episode_39384", "task": "Move the mug forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39384/0000.jpg", "droid_molmo_sam2/images/episode_39384/0081.jpg", "droid_molmo_sam2/images/episode_39384/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug forward, execute the following phases: 1) Initial approach phase (start at [0.497, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.340]). The trajectory involves 119 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39384", "trajectory_length": 119, "key_frame_indices": [ 0, 81, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39384.json" } }, { "id": "droid_molmo_sam2_episode_30492", "task": "Pour the things in the lunchbox into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30492/0000.jpg", "droid_molmo_sam2/images/episode_30492/0471.jpg", "droid_molmo_sam2/images/episode_30492/0479.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the lunchbox into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the things in the lunchbox into the bowl, execute the following phases: 1) Initial approach phase (start at [0.586, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.630, 0.521]). The trajectory involves 480 precise waypoints with total movement distance of 2.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30492", "trajectory_length": 480, "key_frame_indices": [ 0, 471, 479 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30492.json" } }, { "id": "droid_molmo_sam2_episode_3049", "task": "Pick up the blue object from the counter and put it in the open drawer and close it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3049/0000.jpg", "droid_molmo_sam2/images/episode_3049/0080.jpg", "droid_molmo_sam2/images/episode_3049/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue object from the counter and put it in the open drawer and close it?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue object from the counter and put it in the open drawer and close it, execute the following phases: 1) Initial approach phase (start at [0.387, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.742]). The trajectory involves 126 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3049", "trajectory_length": 126, "key_frame_indices": [ 0, 80, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3049.json" } }, { "id": "droid_molmo_sam2_episode_37443", "task": "Put the red marker on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37443/0000.jpg", "droid_molmo_sam2/images/episode_37443/0086.jpg", "droid_molmo_sam2/images/episode_37443/0153.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_molmo_sam2 manipulation: Put the red marker on the table., execute the following phases: 1) Initial approach phase (start at [0.617, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.429]). The trajectory involves 154 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37443", "trajectory_length": 154, "key_frame_indices": [ 0, 86, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37443.json" } }, { "id": "droid_molmo_sam2_episode_34673", "task": "Move the nut from the box to the wooden block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34673/0000.jpg", "droid_molmo_sam2/images/episode_34673/0371.jpg", "droid_molmo_sam2/images/episode_34673/0392.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the nut from the box to the wooden block?" }, { "from": "gpt", "value": "To complete this repositioning: Move the nut from the box to the wooden block, execute the following phases: 1) Initial approach phase (start at [0.409, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.764]). The trajectory involves 393 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34673", "trajectory_length": 393, "key_frame_indices": [ 0, 371, 392 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34673.json" } }, { "id": "droid_molmo_sam2_episode_32360", "task": "Put the peach shirt on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32360/0000.jpg", "droid_molmo_sam2/images/episode_32360/0092.jpg", "droid_molmo_sam2/images/episode_32360/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peach shirt on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the peach shirt on the table, execute the following phases: 1) Initial approach phase (start at [0.629, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 107 precise waypoints with total movement distance of 1.160." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32360", "trajectory_length": 107, "key_frame_indices": [ 0, 92, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32360.json" } }, { "id": "droid_molmo_sam2_episode_4370", "task": "Move the yellow block closer to the cardboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4370/0000.jpg", "droid_molmo_sam2/images/episode_4370/0071.jpg", "droid_molmo_sam2/images/episode_4370/0117.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 [0.351, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.655]). The trajectory involves 118 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4370", "trajectory_length": 118, "key_frame_indices": [ 0, 71, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4370.json" } }, { "id": "droid_molmo_sam2_episode_2686", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2686/0000.jpg", "droid_molmo_sam2/images/episode_2686/0072.jpg", "droid_molmo_sam2/images/episode_2686/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.575, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.529]). The trajectory involves 110 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2686", "trajectory_length": 110, "key_frame_indices": [ 0, 72, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2686.json" } }, { "id": "droid_molmo_sam2_episode_36360", "task": "Pick up the orange towel and place it crumpled on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36360/0000.jpg", "droid_molmo_sam2/images/episode_36360/0155.jpg", "droid_molmo_sam2/images/episode_36360/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange towel and place it crumpled on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange towel and place it crumpled on the counter, execute the following phases: 1) Initial approach phase (start at [0.635, 0.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.350]). The trajectory involves 205 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36360", "trajectory_length": 205, "key_frame_indices": [ 0, 155, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36360.json" } }, { "id": "droid_molmo_sam2_episode_23", "task": "Put the packet on the bottom shelf above the sink.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_23/0000.jpg", "droid_molmo_sam2/images/episode_23/0113.jpg", "droid_molmo_sam2/images/episode_23/0205.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_molmo_sam2 manipulation: Put the packet on the bottom shelf above the sink., execute the following phases: 1) Initial approach phase (start at [0.330, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.319]). The trajectory involves 206 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_23", "trajectory_length": 206, "key_frame_indices": [ 0, 113, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_23.json" } }, { "id": "droid_molmo_sam2_episode_6840", "task": "Take the blue pen out of the green cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6840/0000.jpg", "droid_molmo_sam2/images/episode_6840/0061.jpg", "droid_molmo_sam2/images/episode_6840/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue pen out of the green cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the blue pen out of the green cup, execute the following phases: 1) Initial approach phase (start at [0.415, 0.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.630]). The trajectory involves 112 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6840", "trajectory_length": 112, "key_frame_indices": [ 0, 61, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6840.json" } }, { "id": "droid_molmo_sam2_episode_3349", "task": "Use the towel to wipe the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3349/0000.jpg", "droid_molmo_sam2/images/episode_3349/0305.jpg", "droid_molmo_sam2/images/episode_3349/0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the plate, execute the following phases: 1) Initial approach phase (start at [0.672, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.624]). The trajectory involves 343 precise waypoints with total movement distance of 1.694." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3349", "trajectory_length": 343, "key_frame_indices": [ 0, 305, 342 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3349.json" } }, { "id": "droid_molmo_sam2_episode_3144", "task": "Put the fork onto the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3144/0000.jpg", "droid_molmo_sam2/images/episode_3144/0139.jpg", "droid_molmo_sam2/images/episode_3144/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the fork onto the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the fork onto the white plate, execute the following phases: 1) Initial approach phase (start at [0.488, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.839]). The trajectory involves 230 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3144", "trajectory_length": 230, "key_frame_indices": [ 0, 139, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3144.json" } }, { "id": "droid_molmo_sam2_episode_4458", "task": "Separate the objects on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4458/0000.jpg", "droid_molmo_sam2/images/episode_4458/0452.jpg", "droid_molmo_sam2/images/episode_4458/0590.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Separate the objects on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Separate the objects on the table., execute the following phases: 1) Initial approach phase (start at [0.459, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.455]). The trajectory involves 591 precise waypoints with total movement distance of 1.922." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4458", "trajectory_length": 591, "key_frame_indices": [ 0, 452, 590 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4458.json" } }, { "id": "droid_molmo_sam2_episode_36833", "task": "Put the black jersey in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36833/0000.jpg", "droid_molmo_sam2/images/episode_36833/0169.jpg", "droid_molmo_sam2/images/episode_36833/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black jersey in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black jersey in the box, execute the following phases: 1) Initial approach phase (start at [0.725, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.785]). The trajectory involves 275 precise waypoints with total movement distance of 1.656." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36833", "trajectory_length": 275, "key_frame_indices": [ 0, 169, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36833.json" } }, { "id": "droid_molmo_sam2_episode_36404", "task": "Close the open drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36404/0000.jpg", "droid_molmo_sam2/images/episode_36404/0130.jpg", "droid_molmo_sam2/images/episode_36404/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open drawer.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open drawer., execute the following phases: 1) Initial approach phase (start at [0.466, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 152 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36404", "trajectory_length": 152, "key_frame_indices": [ 0, 130, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36404.json" } }, { "id": "droid_molmo_sam2_episode_36426", "task": "Close the lid of the white bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36426/0000.jpg", "droid_molmo_sam2/images/episode_36426/0088.jpg", "droid_molmo_sam2/images/episode_36426/0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the white bin?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the white bin, execute the following phases: 1) Initial approach phase (start at [0.275, 0.900]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 117 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36426", "trajectory_length": 117, "key_frame_indices": [ 0, 88, 116 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36426.json" } }, { "id": "droid_molmo_sam2_episode_826", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_826/0000.jpg", "droid_molmo_sam2/images/episode_826/0092.jpg", "droid_molmo_sam2/images/episode_826/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.501, 0.600]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 98 precise waypoints with total movement distance of 0.963." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_826", "trajectory_length": 98, "key_frame_indices": [ 0, 92, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_826.json" } }, { "id": "droid_molmo_sam2_episode_38719", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38719/0000.jpg", "droid_molmo_sam2/images/episode_38719/0106.jpg", "droid_molmo_sam2/images/episode_38719/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.464, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.570]). The trajectory involves 125 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38719", "trajectory_length": 125, "key_frame_indices": [ 0, 106, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38719.json" } }, { "id": "droid_molmo_sam2_episode_38710", "task": "Pick up the peach towel and fold it.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38710/0000.jpg", "droid_molmo_sam2/images/episode_38710/0095.jpg", "droid_molmo_sam2/images/episode_38710/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the peach towel and fold it.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the peach towel and fold it., execute the following phases: 1) Initial approach phase (start at [0.660, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.311]). The trajectory involves 289 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38710", "trajectory_length": 289, "key_frame_indices": [ 0, 95, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38710.json" } }, { "id": "droid_molmo_sam2_episode_2488", "task": "Put the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2488/0000.jpg", "droid_molmo_sam2/images/episode_2488/0076.jpg", "droid_molmo_sam2/images/episode_2488/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.491, 0.339]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.878]). The trajectory involves 86 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2488", "trajectory_length": 86, "key_frame_indices": [ 0, 76, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2488.json" } }, { "id": "droid_molmo_sam2_episode_35046", "task": "Put the glass lid on top of the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35046/0000.jpg", "droid_molmo_sam2/images/episode_35046/0134.jpg", "droid_molmo_sam2/images/episode_35046/0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on top of the black pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glass lid on top of the black pot, execute the following phases: 1) Initial approach phase (start at [0.774, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.726]). The trajectory involves 238 precise waypoints with total movement distance of 1.211." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35046", "trajectory_length": 238, "key_frame_indices": [ 0, 134, 237 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35046.json" } }, { "id": "droid_molmo_sam2_episode_792", "task": "Move the middle of the rope to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_792/0000.jpg", "droid_molmo_sam2/images/episode_792/0145.jpg", "droid_molmo_sam2/images/episode_792/0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the middle of the rope to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the middle of the rope to the right, execute the following phases: 1) Initial approach phase (start at [0.530, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.676]). The trajectory involves 248 precise waypoints with total movement distance of 0.783." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_792", "trajectory_length": 248, "key_frame_indices": [ 0, 145, 247 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_792.json" } }, { "id": "droid_molmo_sam2_episode_6833", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6833/0000.jpg", "droid_molmo_sam2/images/episode_6833/0154.jpg", "droid_molmo_sam2/images/episode_6833/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.576, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.849]). The trajectory involves 174 precise waypoints with total movement distance of 1.223." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6833", "trajectory_length": 174, "key_frame_indices": [ 0, 154, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6833.json" } }, { "id": "droid_molmo_sam2_episode_6240", "task": "Use the ladle to stir in the bow", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6240/0000.jpg", "droid_molmo_sam2/images/episode_6240/0119.jpg", "droid_molmo_sam2/images/episode_6240/0688.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the ladle to stir in the bow?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the ladle to stir in the bow, execute the following phases: 1) Initial approach phase (start at [0.653, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.589]). The trajectory involves 689 precise waypoints with total movement distance of 0.880." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6240", "trajectory_length": 689, "key_frame_indices": [ 0, 119, 688 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6240.json" } }, { "id": "droid_molmo_sam2_episode_907", "task": "Close the top drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_907/0000.jpg", "droid_molmo_sam2/images/episode_907/0227.jpg", "droid_molmo_sam2/images/episode_907/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer, execute the following phases: 1) Initial approach phase (start at [0.599, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.340]). The trajectory involves 233 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_907", "trajectory_length": 233, "key_frame_indices": [ 0, 227, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_907.json" } }, { "id": "droid_molmo_sam2_episode_4635", "task": "Pick up the pen and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4635/0000.jpg", "droid_molmo_sam2/images/episode_4635/0164.jpg", "droid_molmo_sam2/images/episode_4635/0344.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.493, 0.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 345 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4635", "trajectory_length": 345, "key_frame_indices": [ 0, 164, 344 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4635.json" } }, { "id": "droid_molmo_sam2_episode_37114", "task": "Place an orange jar on the stack of coasters", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37114/0000.jpg", "droid_molmo_sam2/images/episode_37114/0143.jpg", "droid_molmo_sam2/images/episode_37114/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place an orange jar on the stack of coasters?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place an orange jar on the stack of coasters, execute the following phases: 1) Initial approach phase (start at [0.561, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.468]). The trajectory involves 216 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37114", "trajectory_length": 216, "key_frame_indices": [ 0, 143, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37114.json" } }, { "id": "droid_molmo_sam2_episode_4471", "task": "Move the bottle closer to the right white cable", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4471/0000.jpg", "droid_molmo_sam2/images/episode_4471/0244.jpg", "droid_molmo_sam2/images/episode_4471/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle closer to the right white cable?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle closer to the right white cable, execute the following phases: 1) Initial approach phase (start at [0.693, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.457]). The trajectory involves 273 precise waypoints with total movement distance of 0.986." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4471", "trajectory_length": 273, "key_frame_indices": [ 0, 244, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4471.json" } }, { "id": "droid_molmo_sam2_episode_35626", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35626/0000.jpg", "droid_molmo_sam2/images/episode_35626/0069.jpg", "droid_molmo_sam2/images/episode_35626/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.453, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.679]). The trajectory involves 127 precise waypoints with total movement distance of 1.084." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35626", "trajectory_length": 127, "key_frame_indices": [ 0, 69, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35626.json" } }, { "id": "droid_molmo_sam2_episode_3724", "task": "Open the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3724/0000.jpg", "droid_molmo_sam2/images/episode_3724/0151.jpg", "droid_molmo_sam2/images/episode_3724/0433.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bin?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bin, execute the following phases: 1) Initial approach phase (start at [0.555, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.868]). The trajectory involves 434 precise waypoints with total movement distance of 2.138." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3724", "trajectory_length": 434, "key_frame_indices": [ 0, 151, 433 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3724.json" } }, { "id": "droid_molmo_sam2_episode_33959", "task": "Put the mango plush toy in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33959/0000.jpg", "droid_molmo_sam2/images/episode_33959/0084.jpg", "droid_molmo_sam2/images/episode_33959/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the mango plush toy in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the mango plush toy in the bowl, execute the following phases: 1) Initial approach phase (start at [0.565, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.390]). The trajectory involves 162 precise waypoints with total movement distance of 0.407." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33959", "trajectory_length": 162, "key_frame_indices": [ 0, 84, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33959.json" } }, { "id": "droid_molmo_sam2_episode_2301", "task": "Slide the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2301/0000.jpg", "droid_molmo_sam2/images/episode_2301/0119.jpg", "droid_molmo_sam2/images/episode_2301/0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cup to the right, execute the following phases: 1) Initial approach phase (start at [0.573, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.673]). The trajectory involves 200 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2301", "trajectory_length": 200, "key_frame_indices": [ 0, 119, 199 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2301.json" } }, { "id": "droid_molmo_sam2_episode_38001", "task": "Pick up the marker in the bowl and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38001/0000.jpg", "droid_molmo_sam2/images/episode_38001/0120.jpg", "droid_molmo_sam2/images/episode_38001/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker in the bowl and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker in the bowl and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.515, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.516]). The trajectory involves 169 precise waypoints with total movement distance of 0.713." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38001", "trajectory_length": 169, "key_frame_indices": [ 0, 120, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38001.json" } }, { "id": "droid_molmo_sam2_episode_482", "task": "Fold the yellow cloth.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_482/0000.jpg", "droid_molmo_sam2/images/episode_482/0213.jpg", "droid_molmo_sam2/images/episode_482/0328.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow cloth.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow cloth., execute the following phases: 1) Initial approach phase (start at [0.663, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.827]). The trajectory involves 329 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_482", "trajectory_length": 329, "key_frame_indices": [ 0, 213, 328 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_482.json" } }, { "id": "droid_molmo_sam2_episode_31939", "task": "Pick up the napkin at the bottom and use it to wipe the counter top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31939/0000.jpg", "droid_molmo_sam2/images/episode_31939/0115.jpg", "droid_molmo_sam2/images/episode_31939/0355.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the napkin at the bottom and use it to wipe the counter top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the napkin at the bottom and use it to wipe the counter top, execute the following phases: 1) Initial approach phase (start at [0.617, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.447]). The trajectory involves 356 precise waypoints with total movement distance of 1.431." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31939", "trajectory_length": 356, "key_frame_indices": [ 0, 115, 355 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31939.json" } }, { "id": "droid_molmo_sam2_episode_1898", "task": "Cover the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1898/0000.jpg", "droid_molmo_sam2/images/episode_1898/0121.jpg", "droid_molmo_sam2/images/episode_1898/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Cover the pot, execute the following phases: 1) Initial approach phase (start at [0.600, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.730, 0.456]). The trajectory involves 219 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1898", "trajectory_length": 219, "key_frame_indices": [ 0, 121, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1898.json" } }, { "id": "droid_molmo_sam2_episode_7476", "task": "Move the mug backwards then forwards.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7476/0000.jpg", "droid_molmo_sam2/images/episode_7476/0265.jpg", "droid_molmo_sam2/images/episode_7476/0286.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug backwards then forwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug backwards then forwards., execute the following phases: 1) Initial approach phase (start at [0.545, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.480]). The trajectory involves 287 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7476", "trajectory_length": 287, "key_frame_indices": [ 0, 265, 286 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7476.json" } }, { "id": "droid_molmo_sam2_episode_31286", "task": "Hang the cloth on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31286/0000.jpg", "droid_molmo_sam2/images/episode_31286/0082.jpg", "droid_molmo_sam2/images/episode_31286/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.535, 0.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.199]). The trajectory involves 143 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31286", "trajectory_length": 143, "key_frame_indices": [ 0, 82, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31286.json" } }, { "id": "droid_molmo_sam2_episode_32868", "task": "Remove the silver cup out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32868/0000.jpg", "droid_molmo_sam2/images/episode_32868/0195.jpg", "droid_molmo_sam2/images/episode_32868/0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the silver cup out of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the silver cup out of the sink, execute the following phases: 1) Initial approach phase (start at [0.565, 0.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.203]). The trajectory involves 279 precise waypoints with total movement distance of 1.213." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32868", "trajectory_length": 279, "key_frame_indices": [ 0, 195, 278 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32868.json" } }, { "id": "droid_molmo_sam2_episode_31285", "task": "Unhang the cloth from the stand,hang it back up and hang it again", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31285/0000.jpg", "droid_molmo_sam2/images/episode_31285/0125.jpg", "droid_molmo_sam2/images/episode_31285/0405.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the cloth from the stand,hang it back up and hang it again?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unhang the cloth from the stand,hang it back up and hang it again, execute the following phases: 1) Initial approach phase (start at [0.469, 0.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.254]). The trajectory involves 406 precise waypoints with total movement distance of 1.139." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31285", "trajectory_length": 406, "key_frame_indices": [ 0, 125, 405 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31285.json" } }, { "id": "droid_molmo_sam2_episode_3115", "task": "Use the orange towel to wipe the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3115/0000.jpg", "droid_molmo_sam2/images/episode_3115/0241.jpg", "droid_molmo_sam2/images/episode_3115/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the orange towel to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the orange towel to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.710, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 0.845]). The trajectory involves 337 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3115", "trajectory_length": 337, "key_frame_indices": [ 0, 241, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3115.json" } }, { "id": "droid_molmo_sam2_episode_3193", "task": "Move the pencil to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3193/0000.jpg", "droid_molmo_sam2/images/episode_3193/0110.jpg", "droid_molmo_sam2/images/episode_3193/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pencil to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pencil to the right, execute the following phases: 1) Initial approach phase (start at [0.661, 0.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.230]). The trajectory involves 112 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3193", "trajectory_length": 112, "key_frame_indices": [ 0, 110, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3193.json" } }, { "id": "droid_molmo_sam2_episode_33419", "task": "Move the green cloth to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33419/0000.jpg", "droid_molmo_sam2/images/episode_33419/0078.jpg", "droid_molmo_sam2/images/episode_33419/0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.387, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.476]). The trajectory involves 117 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33419", "trajectory_length": 117, "key_frame_indices": [ 0, 78, 116 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33419.json" } }, { "id": "droid_molmo_sam2_episode_3887", "task": "Fold the yellow towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3887/0000.jpg", "droid_molmo_sam2/images/episode_3887/0219.jpg", "droid_molmo_sam2/images/episode_3887/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel in half, execute the following phases: 1) Initial approach phase (start at [0.540, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.857]). The trajectory involves 271 precise waypoints with total movement distance of 0.443." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3887", "trajectory_length": 271, "key_frame_indices": [ 0, 219, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3887.json" } }, { "id": "droid_molmo_sam2_episode_6869", "task": "Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6869/0000.jpg", "droid_molmo_sam2/images/episode_6869/0096.jpg", "droid_molmo_sam2/images/episode_6869/0153.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_molmo_sam2 manipulation: Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.631, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.579]). The trajectory involves 154 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6869", "trajectory_length": 154, "key_frame_indices": [ 0, 96, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6869.json" } }, { "id": "droid_molmo_sam2_episode_34326", "task": "Hang the trouser across the shelve", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34326/0000.jpg", "droid_molmo_sam2/images/episode_34326/0072.jpg", "droid_molmo_sam2/images/episode_34326/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the trouser across the shelve?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the trouser across the shelve, execute the following phases: 1) Initial approach phase (start at [0.309, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.548]). The trajectory involves 152 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34326", "trajectory_length": 152, "key_frame_indices": [ 0, 72, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34326.json" } }, { "id": "droid_molmo_sam2_episode_30515", "task": "Move the towel to the left, then to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30515/0000.jpg", "droid_molmo_sam2/images/episode_30515/0078.jpg", "droid_molmo_sam2/images/episode_30515/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the left, then to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the left, then to the right, execute the following phases: 1) Initial approach phase (start at [0.752, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.632]). The trajectory involves 169 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30515", "trajectory_length": 169, "key_frame_indices": [ 0, 78, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30515.json" } }, { "id": "droid_molmo_sam2_episode_31765", "task": "Wipe the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31765/0000.jpg", "droid_molmo_sam2/images/episode_31765/0242.jpg", "droid_molmo_sam2/images/episode_31765/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.545, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.560]). The trajectory involves 289 precise waypoints with total movement distance of 1.622." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31765", "trajectory_length": 289, "key_frame_indices": [ 0, 242, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31765.json" } }, { "id": "droid_molmo_sam2_episode_34792", "task": "Put the marker straight", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34792/0000.jpg", "droid_molmo_sam2/images/episode_34792/0110.jpg", "droid_molmo_sam2/images/episode_34792/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker straight?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker straight, execute the following phases: 1) Initial approach phase (start at [0.539, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.525]). The trajectory involves 129 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34792", "trajectory_length": 129, "key_frame_indices": [ 0, 110, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34792.json" } }, { "id": "droid_molmo_sam2_episode_6163", "task": "Press the escape key on the keyboard.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6163/0000.jpg", "droid_molmo_sam2/images/episode_6163/0176.jpg", "droid_molmo_sam2/images/episode_6163/0177.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 [0.512, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.665]). The trajectory involves 178 precise waypoints with total movement distance of 0.331." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6163", "trajectory_length": 178, "key_frame_indices": [ 0, 176, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6163.json" } }, { "id": "droid_molmo_sam2_episode_39394", "task": "Put the white cup in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39394/0000.jpg", "droid_molmo_sam2/images/episode_39394/0193.jpg", "droid_molmo_sam2/images/episode_39394/0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cup in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cup in the sink, execute the following phases: 1) Initial approach phase (start at [0.592, 0.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.579]). The trajectory involves 220 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39394", "trajectory_length": 220, "key_frame_indices": [ 0, 193, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39394.json" } }, { "id": "droid_molmo_sam2_episode_32725", "task": "Push the storage box into the bottom of the black and white cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32725/0000.jpg", "droid_molmo_sam2/images/episode_32725/0063.jpg", "droid_molmo_sam2/images/episode_32725/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the storage box into the bottom of the black and white cabinet?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the storage box into the bottom of the black and white cabinet, execute the following phases: 1) Initial approach phase (start at [0.495, 0.802]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.797]). The trajectory involves 98 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32725", "trajectory_length": 98, "key_frame_indices": [ 0, 63, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32725.json" } }, { "id": "droid_molmo_sam2_episode_7470", "task": "Separate the objects on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7470/0000.jpg", "droid_molmo_sam2/images/episode_7470/0481.jpg", "droid_molmo_sam2/images/episode_7470/0493.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Separate the objects on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Separate the objects on the table., execute the following phases: 1) Initial approach phase (start at [0.503, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 494 precise waypoints with total movement distance of 3.628." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7470", "trajectory_length": 494, "key_frame_indices": [ 0, 481, 493 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7470.json" } }, { "id": "droid_molmo_sam2_episode_6877", "task": "Put the clothes, plush toy and rope together", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6877/0000.jpg", "droid_molmo_sam2/images/episode_6877/0521.jpg", "droid_molmo_sam2/images/episode_6877/1073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the clothes, plush toy and rope together?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the clothes, plush toy and rope together, execute the following phases: 1) Initial approach phase (start at [0.418, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.603]). The trajectory involves 1074 precise waypoints with total movement distance of 5.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6877", "trajectory_length": 1074, "key_frame_indices": [ 0, 521, 1073 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6877.json" } }, { "id": "droid_molmo_sam2_episode_6915", "task": "Put the elastic around the bottle on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6915/0000.jpg", "droid_molmo_sam2/images/episode_6915/0081.jpg", "droid_molmo_sam2/images/episode_6915/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the elastic around the bottle on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the elastic around the bottle on the table, execute the following phases: 1) Initial approach phase (start at [0.558, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.564]). The trajectory involves 126 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6915", "trajectory_length": 126, "key_frame_indices": [ 0, 81, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6915.json" } }, { "id": "droid_molmo_sam2_episode_31467", "task": "Remove a tissue from the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31467/0000.jpg", "droid_molmo_sam2/images/episode_31467/0188.jpg", "droid_molmo_sam2/images/episode_31467/0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove a tissue from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove a tissue from the box, execute the following phases: 1) Initial approach phase (start at [0.560, 0.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.876]). The trajectory involves 232 precise waypoints with total movement distance of 0.890." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31467", "trajectory_length": 232, "key_frame_indices": [ 0, 188, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31467.json" } }, { "id": "droid_molmo_sam2_episode_36689", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36689/0000.jpg", "droid_molmo_sam2/images/episode_36689/0136.jpg", "droid_molmo_sam2/images/episode_36689/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.559, 0.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.442]). The trajectory involves 177 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36689", "trajectory_length": 177, "key_frame_indices": [ 0, 136, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36689.json" } }, { "id": "droid_molmo_sam2_episode_6759", "task": "Open the left door on the middle cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6759/0000.jpg", "droid_molmo_sam2/images/episode_6759/0266.jpg", "droid_molmo_sam2/images/episode_6759/0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door on the middle cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door on the middle cabinet, execute the following phases: 1) Initial approach phase (start at [0.457, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.508]). The trajectory involves 292 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6759", "trajectory_length": 292, "key_frame_indices": [ 0, 266, 291 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6759.json" } }, { "id": "droid_molmo_sam2_episode_7464", "task": "Remove the ball from the yellow plate and put it on the blue towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7464/0000.jpg", "droid_molmo_sam2/images/episode_7464/0057.jpg", "droid_molmo_sam2/images/episode_7464/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the ball from the yellow plate and put it on the blue towel?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the ball from the yellow plate and put it on the blue towel, execute the following phases: 1) Initial approach phase (start at [0.634, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.503]). The trajectory involves 118 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7464", "trajectory_length": 118, "key_frame_indices": [ 0, 57, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7464.json" } }, { "id": "droid_molmo_sam2_episode_33169", "task": "Straighten the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33169/0000.jpg", "droid_molmo_sam2/images/episode_33169/0332.jpg", "droid_molmo_sam2/images/episode_33169/0388.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the cloth, execute the following phases: 1) Initial approach phase (start at [0.256, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.766]). The trajectory involves 389 precise waypoints with total movement distance of 0.682." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33169", "trajectory_length": 389, "key_frame_indices": [ 0, 332, 388 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33169.json" } }, { "id": "droid_molmo_sam2_episode_3495", "task": "Put the orange object in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3495/0000.jpg", "droid_molmo_sam2/images/episode_3495/0107.jpg", "droid_molmo_sam2/images/episode_3495/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object in the cup, execute the following phases: 1) Initial approach phase (start at [0.520, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 0.334]). The trajectory involves 153 precise waypoints with total movement distance of 0.772." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3495", "trajectory_length": 153, "key_frame_indices": [ 0, 107, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3495.json" } }, { "id": "droid_molmo_sam2_episode_36131", "task": "Pick up the can from the counter and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36131/0000.jpg", "droid_molmo_sam2/images/episode_36131/0138.jpg", "droid_molmo_sam2/images/episode_36131/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the can from the counter and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the can from the counter and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.333, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.930]). The trajectory involves 271 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36131", "trajectory_length": 271, "key_frame_indices": [ 0, 138, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36131.json" } }, { "id": "droid_molmo_sam2_episode_2834", "task": "Pick up the blanket and put it on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2834/0000.jpg", "droid_molmo_sam2/images/episode_2834/0415.jpg", "droid_molmo_sam2/images/episode_2834/0483.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blanket and put it on the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blanket and put it on the chair, execute the following phases: 1) Initial approach phase (start at [0.642, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.689]). The trajectory involves 484 precise waypoints with total movement distance of 1.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2834", "trajectory_length": 484, "key_frame_indices": [ 0, 415, 483 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2834.json" } }, { "id": "droid_molmo_sam2_episode_7204", "task": "Move the remotes", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7204/0000.jpg", "droid_molmo_sam2/images/episode_7204/0141.jpg", "droid_molmo_sam2/images/episode_7204/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the remotes?" }, { "from": "gpt", "value": "To complete this repositioning: Move the remotes, execute the following phases: 1) Initial approach phase (start at [0.543, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.543]). The trajectory involves 269 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7204", "trajectory_length": 269, "key_frame_indices": [ 0, 141, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7204.json" } }, { "id": "droid_molmo_sam2_episode_36028", "task": "Use the wooden spoon to stir in the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36028/0000.jpg", "droid_molmo_sam2/images/episode_36028/0580.jpg", "droid_molmo_sam2/images/episode_36028/0937.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the wooden spoon to stir in the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the wooden spoon to stir in the pan, execute the following phases: 1) Initial approach phase (start at [0.639, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.709]). The trajectory involves 938 precise waypoints with total movement distance of 3.760." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36028", "trajectory_length": 938, "key_frame_indices": [ 0, 580, 937 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36028.json" } }, { "id": "droid_molmo_sam2_episode_401", "task": "Place the yellow block in the blue cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_401/0000.jpg", "droid_molmo_sam2/images/episode_401/0060.jpg", "droid_molmo_sam2/images/episode_401/0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the yellow block in the blue cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the yellow block in the blue cup, execute the following phases: 1) Initial approach phase (start at [0.481, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.422]). The trajectory involves 91 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_401", "trajectory_length": 91, "key_frame_indices": [ 0, 60, 90 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_401.json" } }, { "id": "droid_molmo_sam2_episode_34703", "task": "Place the lid on the shorter shaker bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34703/0000.jpg", "droid_molmo_sam2/images/episode_34703/0154.jpg", "droid_molmo_sam2/images/episode_34703/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the shorter shaker bottle?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid on the shorter shaker bottle, execute the following phases: 1) Initial approach phase (start at [0.274, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.532]). The trajectory involves 308 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34703", "trajectory_length": 308, "key_frame_indices": [ 0, 154, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34703.json" } }, { "id": "droid_molmo_sam2_episode_4006", "task": "Move the box to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4006/0000.jpg", "droid_molmo_sam2/images/episode_4006/0083.jpg", "droid_molmo_sam2/images/episode_4006/0169.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 [0.602, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.356]). The trajectory involves 170 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4006", "trajectory_length": 170, "key_frame_indices": [ 0, 83, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4006.json" } }, { "id": "droid_molmo_sam2_episode_38046", "task": "Fold the towel from right to left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38046/0000.jpg", "droid_molmo_sam2/images/episode_38046/0113.jpg", "droid_molmo_sam2/images/episode_38046/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel from right to left.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel from right to left., execute the following phases: 1) Initial approach phase (start at [0.499, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.825]). The trajectory involves 196 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38046", "trajectory_length": 196, "key_frame_indices": [ 0, 113, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38046.json" } }, { "id": "droid_molmo_sam2_episode_30360", "task": "Fold the white towel into a triangle twice", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30360/0000.jpg", "droid_molmo_sam2/images/episode_30360/0201.jpg", "droid_molmo_sam2/images/episode_30360/0254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white towel into a triangle twice?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white towel into a triangle twice, execute the following phases: 1) Initial approach phase (start at [0.550, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.838]). The trajectory involves 255 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30360", "trajectory_length": 255, "key_frame_indices": [ 0, 201, 254 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30360.json" } }, { "id": "droid_molmo_sam2_episode_32966", "task": "Move the cup slightly on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32966/0000.jpg", "droid_molmo_sam2/images/episode_32966/0056.jpg", "droid_molmo_sam2/images/episode_32966/0093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly on the table, execute the following phases: 1) Initial approach phase (start at [0.649, 0.739]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.604, 0.609]). The trajectory involves 94 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32966", "trajectory_length": 94, "key_frame_indices": [ 0, 56, 93 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32966.json" } }, { "id": "droid_molmo_sam2_episode_30416", "task": "Put the orange marker inside the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30416/0000.jpg", "droid_molmo_sam2/images/episode_30416/0079.jpg", "droid_molmo_sam2/images/episode_30416/0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker inside the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange marker inside the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.415, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.697]). The trajectory involves 93 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30416", "trajectory_length": 93, "key_frame_indices": [ 0, 79, 92 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30416.json" } }, { "id": "droid_molmo_sam2_episode_3882", "task": "Move the green bowl to the left edge of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3882/0000.jpg", "droid_molmo_sam2/images/episode_3882/0150.jpg", "droid_molmo_sam2/images/episode_3882/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green bowl to the left edge of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green bowl to the left edge of the table, execute the following phases: 1) Initial approach phase (start at [0.783, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.833, 0.880]). The trajectory involves 218 precise waypoints with total movement distance of 0.637." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3882", "trajectory_length": 218, "key_frame_indices": [ 0, 150, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3882.json" } }, { "id": "droid_molmo_sam2_episode_7246", "task": "Pick up the cloth and clean the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7246/0000.jpg", "droid_molmo_sam2/images/episode_7246/0599.jpg", "droid_molmo_sam2/images/episode_7246/0660.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and clean the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the cloth and clean the plate, execute the following phases: 1) Initial approach phase (start at [0.854, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 661 precise waypoints with total movement distance of 4.749." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7246", "trajectory_length": 661, "key_frame_indices": [ 0, 599, 660 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7246.json" } }, { "id": "droid_molmo_sam2_episode_31989", "task": "Move the black object to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31989/0000.jpg", "droid_molmo_sam2/images/episode_31989/0169.jpg", "droid_molmo_sam2/images/episode_31989/0402.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black object to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black object to the left, execute the following phases: 1) Initial approach phase (start at [0.168, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.172, 0.532]). The trajectory involves 403 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31989", "trajectory_length": 403, "key_frame_indices": [ 0, 169, 402 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31989.json" } }, { "id": "droid_molmo_sam2_episode_31799", "task": "Put the sprite can into the kitchen sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31799/0000.jpg", "droid_molmo_sam2/images/episode_31799/0192.jpg", "droid_molmo_sam2/images/episode_31799/0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sprite can into the kitchen sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the sprite can into the kitchen sink, execute the following phases: 1) Initial approach phase (start at [0.344, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.836]). The trajectory involves 260 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31799", "trajectory_length": 260, "key_frame_indices": [ 0, 192, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31799.json" } }, { "id": "droid_molmo_sam2_episode_6601", "task": "Put the peg on the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6601/0000.jpg", "droid_molmo_sam2/images/episode_6601/0172.jpg", "droid_molmo_sam2/images/episode_6601/0518.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peg on the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the peg on the cloth, execute the following phases: 1) Initial approach phase (start at [0.401, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.721]). The trajectory involves 519 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6601", "trajectory_length": 519, "key_frame_indices": [ 0, 172, 518 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6601.json" } }, { "id": "droid_molmo_sam2_episode_3802", "task": "Pick up the napkin on the washing machine and drop it on the floor", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3802/0000.jpg", "droid_molmo_sam2/images/episode_3802/0131.jpg", "droid_molmo_sam2/images/episode_3802/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the napkin on the washing machine and drop it on the floor?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the napkin on the washing machine and drop it on the floor, execute the following phases: 1) Initial approach phase (start at [0.553, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.674, 0.809]). The trajectory involves 312 precise waypoints with total movement distance of 1.108." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3802", "trajectory_length": 312, "key_frame_indices": [ 0, 131, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3802.json" } }, { "id": "droid_molmo_sam2_episode_1924", "task": "Move the cup backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1924/0000.jpg", "droid_molmo_sam2/images/episode_1924/0055.jpg", "droid_molmo_sam2/images/episode_1924/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup backwards, execute the following phases: 1) Initial approach phase (start at [0.515, 0.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.278]). The trajectory involves 102 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1924", "trajectory_length": 102, "key_frame_indices": [ 0, 55, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1924.json" } }, { "id": "droid_molmo_sam2_episode_1602", "task": "Slide the pot slightly backwards.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1602/0000.jpg", "droid_molmo_sam2/images/episode_1602/0098.jpg", "droid_molmo_sam2/images/episode_1602/0145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the pot slightly backwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the pot slightly backwards., execute the following phases: 1) Initial approach phase (start at [0.699, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.683, 0.552]). The trajectory involves 146 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1602", "trajectory_length": 146, "key_frame_indices": [ 0, 98, 145 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1602.json" } }, { "id": "droid_molmo_sam2_episode_6797", "task": "Place the rubber band on the bottom of the brown cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6797/0000.jpg", "droid_molmo_sam2/images/episode_6797/0077.jpg", "droid_molmo_sam2/images/episode_6797/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the rubber band on the bottom of the brown cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the rubber band on the bottom of the brown cup, execute the following phases: 1) Initial approach phase (start at [0.558, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.565]). The trajectory involves 126 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6797", "trajectory_length": 126, "key_frame_indices": [ 0, 77, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6797.json" } }, { "id": "droid_molmo_sam2_episode_36393", "task": "Put the snack packet into the open cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36393/0000.jpg", "droid_molmo_sam2/images/episode_36393/0164.jpg", "droid_molmo_sam2/images/episode_36393/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack packet into the open cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the snack packet into the open cabinet, execute the following phases: 1) Initial approach phase (start at [0.362, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.157]). The trajectory involves 323 precise waypoints with total movement distance of 1.806." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36393", "trajectory_length": 323, "key_frame_indices": [ 0, 164, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36393.json" } }, { "id": "droid_molmo_sam2_episode_35717", "task": "Pick up the orange canned drink and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35717/0000.jpg", "droid_molmo_sam2/images/episode_35717/0298.jpg", "droid_molmo_sam2/images/episode_35717/0324.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange canned drink and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange canned drink and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.291, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.855]). The trajectory involves 325 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35717", "trajectory_length": 325, "key_frame_indices": [ 0, 298, 324 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35717.json" } }, { "id": "droid_molmo_sam2_episode_39082", "task": "Move the cloth backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39082/0000.jpg", "droid_molmo_sam2/images/episode_39082/0051.jpg", "droid_molmo_sam2/images/episode_39082/0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth backwards, execute the following phases: 1) Initial approach phase (start at [0.493, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.489]). The trajectory involves 117 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39082", "trajectory_length": 117, "key_frame_indices": [ 0, 51, 116 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39082.json" } }, { "id": "droid_molmo_sam2_episode_35919", "task": "Press down on the black stapler", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35919/0000.jpg", "droid_molmo_sam2/images/episode_35919/0082.jpg", "droid_molmo_sam2/images/episode_35919/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down on the black stapler?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down on the black stapler, execute the following phases: 1) Initial approach phase (start at [0.644, 0.632]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.647, 0.633]). The trajectory involves 89 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35919", "trajectory_length": 89, "key_frame_indices": [ 0, 82, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35919.json" } }, { "id": "droid_molmo_sam2_episode_34666", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34666/0000.jpg", "droid_molmo_sam2/images/episode_34666/0085.jpg", "droid_molmo_sam2/images/episode_34666/0105.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 [0.442, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.656]). The trajectory involves 106 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34666", "trajectory_length": 106, "key_frame_indices": [ 0, 85, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34666.json" } }, { "id": "droid_molmo_sam2_episode_34490", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34490/0000.jpg", "droid_molmo_sam2/images/episode_34490/0096.jpg", "droid_molmo_sam2/images/episode_34490/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.491, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.572]). The trajectory involves 128 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34490", "trajectory_length": 128, "key_frame_indices": [ 0, 96, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34490.json" } }, { "id": "droid_molmo_sam2_episode_39307", "task": "Place the cloth on the wooden board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39307/0000.jpg", "droid_molmo_sam2/images/episode_39307/0109.jpg", "droid_molmo_sam2/images/episode_39307/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cloth on the wooden board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the cloth on the wooden board, execute the following phases: 1) Initial approach phase (start at [0.743, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.531]). The trajectory involves 169 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39307", "trajectory_length": 169, "key_frame_indices": [ 0, 109, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39307.json" } }, { "id": "droid_molmo_sam2_episode_39113", "task": "Put the white cup on the orange plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39113/0000.jpg", "droid_molmo_sam2/images/episode_39113/0351.jpg", "droid_molmo_sam2/images/episode_39113/0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cup on the orange plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cup on the orange plate, execute the following phases: 1) Initial approach phase (start at [0.690, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 367 precise waypoints with total movement distance of 1.271." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39113", "trajectory_length": 367, "key_frame_indices": [ 0, 351, 366 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39113.json" } }, { "id": "droid_molmo_sam2_episode_4292", "task": "Pick up the white plate from the countertop and put it in the dishwasher.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4292/0000.jpg", "droid_molmo_sam2/images/episode_4292/0186.jpg", "droid_molmo_sam2/images/episode_4292/0406.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.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white plate from the countertop and put it in the dishwasher., execute the following phases: 1) Initial approach phase (start at [0.382, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 407 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4292", "trajectory_length": 407, "key_frame_indices": [ 0, 186, 406 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4292.json" } }, { "id": "droid_molmo_sam2_episode_3095", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3095/0000.jpg", "droid_molmo_sam2/images/episode_3095/0186.jpg", "droid_molmo_sam2/images/episode_3095/0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.448, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.611]). The trajectory involves 277 precise waypoints with total movement distance of 1.783." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3095", "trajectory_length": 277, "key_frame_indices": [ 0, 186, 276 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3095.json" } }, { "id": "droid_molmo_sam2_episode_30054", "task": "Push the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30054/0000.jpg", "droid_molmo_sam2/images/episode_30054/0132.jpg", "droid_molmo_sam2/images/episode_30054/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the towel to the right?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.574, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.753, 0.703]). The trajectory involves 162 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30054", "trajectory_length": 162, "key_frame_indices": [ 0, 132, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30054.json" } }, { "id": "droid_molmo_sam2_episode_38756", "task": "Remove the orange plushy from the compartment and put it atop the toaster oven", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38756/0000.jpg", "droid_molmo_sam2/images/episode_38756/0123.jpg", "droid_molmo_sam2/images/episode_38756/0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange plushy from the compartment and put it atop the toaster oven?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the orange plushy from the compartment and put it atop the toaster oven, execute the following phases: 1) Initial approach phase (start at [0.615, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.401]). The trajectory involves 238 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38756", "trajectory_length": 238, "key_frame_indices": [ 0, 123, 237 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38756.json" } }, { "id": "droid_molmo_sam2_episode_30847", "task": "Slide the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30847/0000.jpg", "droid_molmo_sam2/images/episode_30847/0087.jpg", "droid_molmo_sam2/images/episode_30847/0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.639, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.485]). The trajectory involves 115 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30847", "trajectory_length": 115, "key_frame_indices": [ 0, 87, 114 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30847.json" } }, { "id": "droid_molmo_sam2_episode_3112", "task": "Stack the cups together", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3112/0000.jpg", "droid_molmo_sam2/images/episode_3112/0090.jpg", "droid_molmo_sam2/images/episode_3112/0418.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the cups together?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the cups together, execute the following phases: 1) Initial approach phase (start at [0.559, 0.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.780, 0.220]). The trajectory involves 419 precise waypoints with total movement distance of 2.248." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3112", "trajectory_length": 419, "key_frame_indices": [ 0, 90, 418 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3112.json" } }, { "id": "droid_molmo_sam2_episode_3212", "task": "Move the blue cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3212/0000.jpg", "droid_molmo_sam2/images/episode_3212/0107.jpg", "droid_molmo_sam2/images/episode_3212/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cup forward, execute the following phases: 1) Initial approach phase (start at [0.695, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.622]). The trajectory involves 151 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3212", "trajectory_length": 151, "key_frame_indices": [ 0, 107, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3212.json" } }, { "id": "droid_molmo_sam2_episode_2493", "task": "Take the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2493/0000.jpg", "droid_molmo_sam2/images/episode_2493/0195.jpg", "droid_molmo_sam2/images/episode_2493/0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.518, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.317, 0.510]). The trajectory involves 232 precise waypoints with total movement distance of 1.360." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2493", "trajectory_length": 232, "key_frame_indices": [ 0, 195, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2493.json" } }, { "id": "droid_molmo_sam2_episode_37065", "task": "Pick up the marker and put it on the left side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37065/0000.jpg", "droid_molmo_sam2/images/episode_37065/0084.jpg", "droid_molmo_sam2/images/episode_37065/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it on the left side of the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it on the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.410, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.411]). The trajectory involves 130 precise waypoints with total movement distance of 0.773." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37065", "trajectory_length": 130, "key_frame_indices": [ 0, 84, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37065.json" } }, { "id": "droid_molmo_sam2_episode_32961", "task": "Move the blue and white bottle to the left side of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32961/0000.jpg", "droid_molmo_sam2/images/episode_32961/0107.jpg", "droid_molmo_sam2/images/episode_32961/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue and white bottle to the left side of the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue and white bottle to the left side of the sink, execute the following phases: 1) Initial approach phase (start at [0.580, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.290, 0.609]). The trajectory involves 244 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32961", "trajectory_length": 244, "key_frame_indices": [ 0, 107, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32961.json" } }, { "id": "droid_molmo_sam2_episode_3573", "task": "Move the large packet to the right side of the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3573/0000.jpg", "droid_molmo_sam2/images/episode_3573/0208.jpg", "droid_molmo_sam2/images/episode_3573/0392.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the large packet to the right side of the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the large packet to the right side of the counter, execute the following phases: 1) Initial approach phase (start at [0.420, 0.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.455]). The trajectory involves 393 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3573", "trajectory_length": 393, "key_frame_indices": [ 0, 208, 392 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3573.json" } }, { "id": "droid_molmo_sam2_episode_35956", "task": "Move the cup slightly to the center of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35956/0000.jpg", "droid_molmo_sam2/images/episode_35956/0112.jpg", "droid_molmo_sam2/images/episode_35956/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly to the center of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly to the center of the table, execute the following phases: 1) Initial approach phase (start at [0.593, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.619]). The trajectory involves 138 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35956", "trajectory_length": 138, "key_frame_indices": [ 0, 112, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35956.json" } }, { "id": "droid_molmo_sam2_episode_6234", "task": "Put the black ring on the rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6234/0000.jpg", "droid_molmo_sam2/images/episode_6234/0039.jpg", "droid_molmo_sam2/images/episode_6234/0459.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black ring on the rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black ring on the rack, execute the following phases: 1) Initial approach phase (start at [0.715, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 0.873]). The trajectory involves 460 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6234", "trajectory_length": 460, "key_frame_indices": [ 0, 39, 459 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6234.json" } }, { "id": "droid_molmo_sam2_episode_6967", "task": "Pour the contents of the green cup in the cream white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6967/0000.jpg", "droid_molmo_sam2/images/episode_6967/0219.jpg", "droid_molmo_sam2/images/episode_6967/0349.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the green cup in the cream white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the green cup in the cream white plate, execute the following phases: 1) Initial approach phase (start at [0.639, 0.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.688, 0.286]). The trajectory involves 350 precise waypoints with total movement distance of 3.013." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6967", "trajectory_length": 350, "key_frame_indices": [ 0, 219, 349 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6967.json" } }, { "id": "droid_molmo_sam2_episode_38536", "task": "Put the sharpie on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38536/0000.jpg", "droid_molmo_sam2/images/episode_38536/0114.jpg", "droid_molmo_sam2/images/episode_38536/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sharpie on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the sharpie on the table, execute the following phases: 1) Initial approach phase (start at [0.584, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.499]). The trajectory involves 127 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38536", "trajectory_length": 127, "key_frame_indices": [ 0, 114, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38536.json" } }, { "id": "droid_molmo_sam2_episode_6638", "task": "Pick the tool with the orange handle and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6638/0000.jpg", "droid_molmo_sam2/images/episode_6638/0089.jpg", "droid_molmo_sam2/images/episode_6638/0165.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 [0.861, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.860, 0.819]). The trajectory involves 166 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6638", "trajectory_length": 166, "key_frame_indices": [ 0, 89, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6638.json" } }, { "id": "droid_molmo_sam2_episode_32410", "task": "Pick the green block and put it on the blue block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32410/0000.jpg", "droid_molmo_sam2/images/episode_32410/0113.jpg", "droid_molmo_sam2/images/episode_32410/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the green block and put it on the blue block?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the green block and put it on the blue block, execute the following phases: 1) Initial approach phase (start at [0.675, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 0.501]). The trajectory involves 179 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32410", "trajectory_length": 179, "key_frame_indices": [ 0, 113, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32410.json" } }, { "id": "droid_molmo_sam2_episode_30978", "task": "Remove the clothes and towels from the storage box and put them on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30978/0000.jpg", "droid_molmo_sam2/images/episode_30978/0211.jpg", "droid_molmo_sam2/images/episode_30978/0391.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothes and towels from the storage box and put them on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothes and towels from the storage box and put them on the table, execute the following phases: 1) Initial approach phase (start at [0.521, 0.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.945]). The trajectory involves 392 precise waypoints with total movement distance of 3.634." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30978", "trajectory_length": 392, "key_frame_indices": [ 0, 211, 391 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30978.json" } }, { "id": "droid_molmo_sam2_episode_30569", "task": "Wipe the table top with the white and blue towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30569/0000.jpg", "droid_molmo_sam2/images/episode_30569/0189.jpg", "droid_molmo_sam2/images/episode_30569/0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table top with the white and blue towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table top with the white and blue towel, execute the following phases: 1) Initial approach phase (start at [0.481, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.692]). The trajectory involves 327 precise waypoints with total movement distance of 2.412." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30569", "trajectory_length": 327, "key_frame_indices": [ 0, 189, 326 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30569.json" } }, { "id": "droid_molmo_sam2_episode_3934", "task": "Fold the shirt", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3934/0000.jpg", "droid_molmo_sam2/images/episode_3934/0339.jpg", "droid_molmo_sam2/images/episode_3934/0451.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the shirt?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the shirt, execute the following phases: 1) Initial approach phase (start at [0.571, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.862]). The trajectory involves 452 precise waypoints with total movement distance of 0.698." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3934", "trajectory_length": 452, "key_frame_indices": [ 0, 339, 451 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3934.json" } }, { "id": "droid_molmo_sam2_episode_30949", "task": "Use the towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30949/0000.jpg", "droid_molmo_sam2/images/episode_30949/0100.jpg", "droid_molmo_sam2/images/episode_30949/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.426, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.637]). The trajectory involves 151 precise waypoints with total movement distance of 1.046." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30949", "trajectory_length": 151, "key_frame_indices": [ 0, 100, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30949.json" } }, { "id": "droid_molmo_sam2_episode_34754", "task": "Pick up the box from the table and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34754/0000.jpg", "droid_molmo_sam2/images/episode_34754/0188.jpg", "droid_molmo_sam2/images/episode_34754/0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the box from the table and move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the box from the table and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.295, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.571]). The trajectory involves 208 precise waypoints with total movement distance of 1.102." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34754", "trajectory_length": 208, "key_frame_indices": [ 0, 188, 207 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34754.json" } }, { "id": "droid_molmo_sam2_episode_33760", "task": "Move the black scale to the right, press the button on the left side of the scale", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33760/0000.jpg", "droid_molmo_sam2/images/episode_33760/0150.jpg", "droid_molmo_sam2/images/episode_33760/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black scale to the right, press the button on the left side of the scale?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black scale to the right, press the button on the left side of the scale, execute the following phases: 1) Initial approach phase (start at [0.534, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.446]). The trajectory involves 194 precise waypoints with total movement distance of 0.377." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33760", "trajectory_length": 194, "key_frame_indices": [ 0, 150, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33760.json" } }, { "id": "droid_molmo_sam2_episode_7070", "task": "Move the bowl to the right on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7070/0000.jpg", "droid_molmo_sam2/images/episode_7070/0085.jpg", "droid_molmo_sam2/images/episode_7070/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right on the table, execute the following phases: 1) Initial approach phase (start at [0.521, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.506]). The trajectory involves 120 precise waypoints with total movement distance of 0.353." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7070", "trajectory_length": 120, "key_frame_indices": [ 0, 85, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7070.json" } }, { "id": "droid_molmo_sam2_episode_34460", "task": "Fold the orange towel twice", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34460/0000.jpg", "droid_molmo_sam2/images/episode_34460/0260.jpg", "droid_molmo_sam2/images/episode_34460/0530.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the orange towel twice?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the orange towel twice, execute the following phases: 1) Initial approach phase (start at [0.597, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.642]). The trajectory involves 531 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34460", "trajectory_length": 531, "key_frame_indices": [ 0, 260, 530 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34460.json" } }, { "id": "droid_molmo_sam2_episode_34736", "task": "Put the cup in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34736/0000.jpg", "droid_molmo_sam2/images/episode_34736/0192.jpg", "droid_molmo_sam2/images/episode_34736/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the sink, execute the following phases: 1) Initial approach phase (start at [0.638, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 225 precise waypoints with total movement distance of 2.027." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34736", "trajectory_length": 225, "key_frame_indices": [ 0, 192, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34736.json" } }, { "id": "droid_molmo_sam2_episode_6612", "task": "Pick up the tokens from the table and put them in the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6612/0000.jpg", "droid_molmo_sam2/images/episode_6612/0033.jpg", "droid_molmo_sam2/images/episode_6612/0329.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the tokens from the table and put them in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the tokens from the table and put them in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.570, 0.812]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.875]). The trajectory involves 330 precise waypoints with total movement distance of 1.175." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6612", "trajectory_length": 330, "key_frame_indices": [ 0, 33, 329 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6612.json" } }, { "id": "droid_molmo_sam2_episode_35625", "task": "Pick up the marker and put it on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35625/0000.jpg", "droid_molmo_sam2/images/episode_35625/0104.jpg", "droid_molmo_sam2/images/episode_35625/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it on the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it on the bowl, execute the following phases: 1) Initial approach phase (start at [0.546, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.652, 0.356]). The trajectory involves 158 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35625", "trajectory_length": 158, "key_frame_indices": [ 0, 104, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35625.json" } }, { "id": "droid_molmo_sam2_episode_34632", "task": "Pick up the clothes from the headrest of the chair and put them on the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34632/0000.jpg", "droid_molmo_sam2/images/episode_34632/0136.jpg", "droid_molmo_sam2/images/episode_34632/0314.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the clothes from the headrest of the chair and put them on the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the clothes from the headrest of the chair and put them on the box, execute the following phases: 1) Initial approach phase (start at [0.478, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.742, 0.124]). The trajectory involves 315 precise waypoints with total movement distance of 2.850." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34632", "trajectory_length": 315, "key_frame_indices": [ 0, 136, 314 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34632.json" } }, { "id": "droid_molmo_sam2_episode_36728", "task": "Put the purple thing in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36728/0000.jpg", "droid_molmo_sam2/images/episode_36728/0062.jpg", "droid_molmo_sam2/images/episode_36728/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple thing in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple thing in the bowl, execute the following phases: 1) Initial approach phase (start at [0.402, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.479]). The trajectory involves 179 precise waypoints with total movement distance of 1.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36728", "trajectory_length": 179, "key_frame_indices": [ 0, 62, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36728.json" } }, { "id": "droid_molmo_sam2_episode_2467", "task": "Fold the yellow towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2467/0000.jpg", "droid_molmo_sam2/images/episode_2467/0235.jpg", "droid_molmo_sam2/images/episode_2467/0286.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel in half, execute the following phases: 1) Initial approach phase (start at [0.524, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.799]). The trajectory involves 287 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2467", "trajectory_length": 287, "key_frame_indices": [ 0, 235, 286 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2467.json" } }, { "id": "droid_molmo_sam2_episode_34988", "task": "Take a t-shirt out of the top right drawer and put it on the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34988/0000.jpg", "droid_molmo_sam2/images/episode_34988/0169.jpg", "droid_molmo_sam2/images/episode_34988/0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take a t-shirt out of the top right drawer and put it on the bed?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take a t-shirt out of the top right drawer and put it on the bed, execute the following phases: 1) Initial approach phase (start at [0.550, 0.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.054]). The trajectory involves 301 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34988", "trajectory_length": 301, "key_frame_indices": [ 0, 169, 300 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34988.json" } }, { "id": "droid_molmo_sam2_episode_4270", "task": "Fold the dish cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4270/0000.jpg", "droid_molmo_sam2/images/episode_4270/0116.jpg", "droid_molmo_sam2/images/episode_4270/0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the dish cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the dish cloth, execute the following phases: 1) Initial approach phase (start at [0.621, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.671]). The trajectory involves 302 precise waypoints with total movement distance of 0.832." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4270", "trajectory_length": 302, "key_frame_indices": [ 0, 116, 301 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4270.json" } }, { "id": "droid_molmo_sam2_episode_31505", "task": "Fold the towel on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31505/0000.jpg", "droid_molmo_sam2/images/episode_31505/0168.jpg", "droid_molmo_sam2/images/episode_31505/0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel on the table., execute the following phases: 1) Initial approach phase (start at [0.674, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.516]). The trajectory involves 272 precise waypoints with total movement distance of 1.016." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31505", "trajectory_length": 272, "key_frame_indices": [ 0, 168, 271 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31505.json" } }, { "id": "droid_molmo_sam2_episode_2617", "task": "Remove the blue packet from the sink and put it on the left side of the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2617/0000.jpg", "droid_molmo_sam2/images/episode_2617/0145.jpg", "droid_molmo_sam2/images/episode_2617/0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the blue packet from the sink and put it on the left side of the counter.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the blue packet from the sink and put it on the left side of the counter., execute the following phases: 1) Initial approach phase (start at [0.456, 0.922]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.279, 0.835]). The trajectory involves 259 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2617", "trajectory_length": 259, "key_frame_indices": [ 0, 145, 258 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2617.json" } }, { "id": "droid_molmo_sam2_episode_3825", "task": "Pour the contents of the blue cup onto the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3825/0000.jpg", "droid_molmo_sam2/images/episode_3825/0283.jpg", "droid_molmo_sam2/images/episode_3825/0407.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the blue cup onto the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the blue cup onto the plate, execute the following phases: 1) Initial approach phase (start at [0.314, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.591]). The trajectory involves 408 precise waypoints with total movement distance of 1.826." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3825", "trajectory_length": 408, "key_frame_indices": [ 0, 283, 407 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3825.json" } }, { "id": "droid_molmo_sam2_episode_38953", "task": "Put the cloth on the workbench", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38953/0000.jpg", "droid_molmo_sam2/images/episode_38953/0095.jpg", "droid_molmo_sam2/images/episode_38953/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the workbench?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the workbench, execute the following phases: 1) Initial approach phase (start at [0.640, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.850]). The trajectory involves 126 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38953", "trajectory_length": 126, "key_frame_indices": [ 0, 95, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38953.json" } }, { "id": "droid_molmo_sam2_episode_3060", "task": "Hang the cloth on the screen", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3060/0000.jpg", "droid_molmo_sam2/images/episode_3060/0109.jpg", "droid_molmo_sam2/images/episode_3060/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the screen?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the screen, execute the following phases: 1) Initial approach phase (start at [0.499, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.377]). The trajectory involves 153 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3060", "trajectory_length": 153, "key_frame_indices": [ 0, 109, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3060.json" } }, { "id": "droid_molmo_sam2_episode_783", "task": "Remove the marker from the white cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_783/0000.jpg", "droid_molmo_sam2/images/episode_783/0078.jpg", "droid_molmo_sam2/images/episode_783/0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the white cup and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the white cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.588, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.683]). The trajectory involves 207 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_783", "trajectory_length": 207, "key_frame_indices": [ 0, 78, 206 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_783.json" } }, { "id": "droid_molmo_sam2_episode_4085", "task": "Unwind the black charging cable", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4085/0000.jpg", "droid_molmo_sam2/images/episode_4085/0307.jpg", "droid_molmo_sam2/images/episode_4085/0540.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unwind the black charging cable?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unwind the black charging cable, execute the following phases: 1) Initial approach phase (start at [0.617, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.645]). The trajectory involves 541 precise waypoints with total movement distance of 1.912." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4085", "trajectory_length": 541, "key_frame_indices": [ 0, 307, 540 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4085.json" } }, { "id": "droid_molmo_sam2_episode_6928", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6928/0000.jpg", "droid_molmo_sam2/images/episode_6928/0168.jpg", "droid_molmo_sam2/images/episode_6928/0425.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.530, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.641]). The trajectory involves 426 precise waypoints with total movement distance of 2.745." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6928", "trajectory_length": 426, "key_frame_indices": [ 0, 168, 425 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6928.json" } }, { "id": "droid_molmo_sam2_episode_38259", "task": "Separate the things on the heap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38259/0000.jpg", "droid_molmo_sam2/images/episode_38259/0450.jpg", "droid_molmo_sam2/images/episode_38259/0994.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Separate the things on the heap?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Separate the things on the heap, execute the following phases: 1) Initial approach phase (start at [0.494, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.516]). The trajectory involves 995 precise waypoints with total movement distance of 1.151." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38259", "trajectory_length": 995, "key_frame_indices": [ 0, 450, 994 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38259.json" } }, { "id": "droid_molmo_sam2_episode_3096", "task": "Pick the lid on the table and put it on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3096/0000.jpg", "droid_molmo_sam2/images/episode_3096/0250.jpg", "droid_molmo_sam2/images/episode_3096/0424.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the lid on the table and put it on the pot?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the lid on the table and put it on the pot, execute the following phases: 1) Initial approach phase (start at [0.463, 0.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.441]). The trajectory involves 425 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3096", "trajectory_length": 425, "key_frame_indices": [ 0, 250, 424 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3096.json" } }, { "id": "droid_molmo_sam2_episode_39246", "task": "Put the pink octopus plush toy on top of the tissue box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39246/0000.jpg", "droid_molmo_sam2/images/episode_39246/0125.jpg", "droid_molmo_sam2/images/episode_39246/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink octopus plush toy on top of the tissue box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink octopus plush toy on top of the tissue box, execute the following phases: 1) Initial approach phase (start at [0.349, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.489]). The trajectory involves 223 precise waypoints with total movement distance of 1.073." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39246", "trajectory_length": 223, "key_frame_indices": [ 0, 125, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39246.json" } }, { "id": "droid_molmo_sam2_episode_601", "task": "Put the pencil in the green holder", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_601/0000.jpg", "droid_molmo_sam2/images/episode_601/0127.jpg", "droid_molmo_sam2/images/episode_601/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pencil in the green holder?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pencil in the green holder, execute the following phases: 1) Initial approach phase (start at [0.504, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.478]). The trajectory involves 136 precise waypoints with total movement distance of 1.750." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_601", "trajectory_length": 136, "key_frame_indices": [ 0, 127, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_601.json" } }, { "id": "droid_molmo_sam2_episode_32784", "task": "Move the white can with the orange lid to the right side of the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32784/0000.jpg", "droid_molmo_sam2/images/episode_32784/0084.jpg", "droid_molmo_sam2/images/episode_32784/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white can with the orange lid to the right side of the tap?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white can with the orange lid to the right side of the tap, execute the following phases: 1) Initial approach phase (start at [0.134, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.596]). The trajectory involves 194 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32784", "trajectory_length": 194, "key_frame_indices": [ 0, 84, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32784.json" } }, { "id": "droid_molmo_sam2_episode_30822", "task": "Pick up the pen from the table and move it slightly to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30822/0000.jpg", "droid_molmo_sam2/images/episode_30822/0111.jpg", "droid_molmo_sam2/images/episode_30822/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and move it slightly to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the pen from the table and move it slightly to the right., execute the following phases: 1) Initial approach phase (start at [0.667, 0.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.462]). The trajectory involves 153 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30822", "trajectory_length": 153, "key_frame_indices": [ 0, 111, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30822.json" } }, { "id": "droid_molmo_sam2_episode_4548", "task": "Remove the toy box out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4548/0000.jpg", "droid_molmo_sam2/images/episode_4548/0248.jpg", "droid_molmo_sam2/images/episode_4548/0289.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 [0.411, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.192, 0.670]). The trajectory involves 290 precise waypoints with total movement distance of 1.487." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4548", "trajectory_length": 290, "key_frame_indices": [ 0, 248, 289 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4548.json" } }, { "id": "droid_molmo_sam2_episode_6339", "task": "Move the measuring tape slightly forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6339/0000.jpg", "droid_molmo_sam2/images/episode_6339/0097.jpg", "droid_molmo_sam2/images/episode_6339/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the measuring tape slightly forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the measuring tape slightly forward, execute the following phases: 1) Initial approach phase (start at [0.557, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.495]). The trajectory involves 110 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6339", "trajectory_length": 110, "key_frame_indices": [ 0, 97, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6339.json" } }, { "id": "droid_molmo_sam2_episode_35921", "task": "Put the orange cup into the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35921/0000.jpg", "droid_molmo_sam2/images/episode_35921/0109.jpg", "droid_molmo_sam2/images/episode_35921/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup into the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup into the black bowl, execute the following phases: 1) Initial approach phase (start at [0.450, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.546]). The trajectory involves 168 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35921", "trajectory_length": 168, "key_frame_indices": [ 0, 109, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35921.json" } }, { "id": "droid_molmo_sam2_episode_4074", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4074/0000.jpg", "droid_molmo_sam2/images/episode_4074/0086.jpg", "droid_molmo_sam2/images/episode_4074/0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.574, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.597, 0.513]). The trajectory involves 93 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4074", "trajectory_length": 93, "key_frame_indices": [ 0, 86, 92 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4074.json" } }, { "id": "droid_molmo_sam2_episode_35534", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35534/0000.jpg", "droid_molmo_sam2/images/episode_35534/0084.jpg", "droid_molmo_sam2/images/episode_35534/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.576, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 0.457]). The trajectory involves 106 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35534", "trajectory_length": 106, "key_frame_indices": [ 0, 84, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35534.json" } }, { "id": "droid_molmo_sam2_episode_35745", "task": "Put the bowl in the sink on the dish rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35745/0000.jpg", "droid_molmo_sam2/images/episode_35745/0107.jpg", "droid_molmo_sam2/images/episode_35745/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bowl in the sink on the dish rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the bowl in the sink on the dish rack, execute the following phases: 1) Initial approach phase (start at [0.867, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.457]). The trajectory involves 233 precise waypoints with total movement distance of 0.941." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35745", "trajectory_length": 233, "key_frame_indices": [ 0, 107, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35745.json" } }, { "id": "droid_molmo_sam2_episode_36415", "task": "Turn off the faucet of the sink.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36415/0000.jpg", "droid_molmo_sam2/images/episode_36415/0143.jpg", "droid_molmo_sam2/images/episode_36415/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the faucet of the sink.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn off the faucet of the sink., execute the following phases: 1) Initial approach phase (start at [0.539, 0.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.220]). The trajectory involves 153 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36415", "trajectory_length": 153, "key_frame_indices": [ 0, 143, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36415.json" } }, { "id": "droid_molmo_sam2_episode_33819", "task": "Close the middle drawer of the cabinet on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33819/0000.jpg", "droid_molmo_sam2/images/episode_33819/0142.jpg", "droid_molmo_sam2/images/episode_33819/0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the middle drawer of the cabinet on the table?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the middle drawer of the cabinet on the table, execute the following phases: 1) Initial approach phase (start at [0.487, 0.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.345]). The trajectory involves 161 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33819", "trajectory_length": 161, "key_frame_indices": [ 0, 142, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33819.json" } }, { "id": "droid_molmo_sam2_episode_35684", "task": "Close the open cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35684/0000.jpg", "droid_molmo_sam2/images/episode_35684/0091.jpg", "droid_molmo_sam2/images/episode_35684/0199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open cabinet door, execute the following phases: 1) Initial approach phase (start at [0.574, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.723]). The trajectory involves 200 precise waypoints with total movement distance of 0.395." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35684", "trajectory_length": 200, "key_frame_indices": [ 0, 91, 199 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35684.json" } }, { "id": "droid_molmo_sam2_episode_37388", "task": "Put the towel on the black thing on top of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37388/0000.jpg", "droid_molmo_sam2/images/episode_37388/0166.jpg", "droid_molmo_sam2/images/episode_37388/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the black thing on top of the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the black thing on top of the table, execute the following phases: 1) Initial approach phase (start at [0.565, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.273]). The trajectory involves 250 precise waypoints with total movement distance of 0.915." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37388", "trajectory_length": 250, "key_frame_indices": [ 0, 166, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37388.json" } }, { "id": "droid_molmo_sam2_episode_32219", "task": "Move the computer mouse.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32219/0000.jpg", "droid_molmo_sam2/images/episode_32219/0086.jpg", "droid_molmo_sam2/images/episode_32219/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the computer mouse.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the computer mouse., execute the following phases: 1) Initial approach phase (start at [0.604, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.823]). The trajectory involves 135 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32219", "trajectory_length": 135, "key_frame_indices": [ 0, 86, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32219.json" } }, { "id": "droid_molmo_sam2_episode_35250", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35250/0000.jpg", "droid_molmo_sam2/images/episode_35250/0109.jpg", "droid_molmo_sam2/images/episode_35250/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.333, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.565]). The trajectory involves 160 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35250", "trajectory_length": 160, "key_frame_indices": [ 0, 109, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35250.json" } }, { "id": "droid_molmo_sam2_episode_31859", "task": "Move the trail mix packet to the left side of the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31859/0000.jpg", "droid_molmo_sam2/images/episode_31859/0295.jpg", "droid_molmo_sam2/images/episode_31859/0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the trail mix packet to the left side of the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the trail mix packet to the left side of the counter, execute the following phases: 1) Initial approach phase (start at [0.526, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.581]). The trajectory involves 309 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31859", "trajectory_length": 309, "key_frame_indices": [ 0, 295, 308 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31859.json" } }, { "id": "droid_molmo_sam2_episode_2575", "task": "Pick up the white cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2575/0000.jpg", "droid_molmo_sam2/images/episode_2575/0172.jpg", "droid_molmo_sam2/images/episode_2575/0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.611, 0.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.528]). The trajectory involves 187 precise waypoints with total movement distance of 1.260." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2575", "trajectory_length": 187, "key_frame_indices": [ 0, 172, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2575.json" } }, { "id": "droid_molmo_sam2_episode_6222", "task": "Put the white towel on the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6222/0000.jpg", "droid_molmo_sam2/images/episode_6222/0249.jpg", "droid_molmo_sam2/images/episode_6222/0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel on the seat of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel on the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.615, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.741]). The trajectory involves 295 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6222", "trajectory_length": 295, "key_frame_indices": [ 0, 249, 294 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6222.json" } }, { "id": "droid_molmo_sam2_episode_36453", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36453/0000.jpg", "droid_molmo_sam2/images/episode_36453/0051.jpg", "droid_molmo_sam2/images/episode_36453/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.395, 0.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.653]). The trajectory involves 145 precise waypoints with total movement distance of 1.289." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36453", "trajectory_length": 145, "key_frame_indices": [ 0, 51, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36453.json" } }, { "id": "droid_molmo_sam2_episode_3889", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3889/0000.jpg", "droid_molmo_sam2/images/episode_3889/0043.jpg", "droid_molmo_sam2/images/episode_3889/0067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.521, 0.650]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.594]). The trajectory involves 68 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3889", "trajectory_length": 68, "key_frame_indices": [ 0, 43, 67 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3889.json" } }, { "id": "droid_molmo_sam2_episode_31695", "task": "Hang the towel on the black bar", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31695/0000.jpg", "droid_molmo_sam2/images/episode_31695/0255.jpg", "droid_molmo_sam2/images/episode_31695/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the towel on the black bar?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the towel on the black bar, execute the following phases: 1) Initial approach phase (start at [0.552, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.314]). The trajectory involves 312 precise waypoints with total movement distance of 1.689." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31695", "trajectory_length": 312, "key_frame_indices": [ 0, 255, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31695.json" } }, { "id": "droid_molmo_sam2_episode_809", "task": "Place the block inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_809/0000.jpg", "droid_molmo_sam2/images/episode_809/0050.jpg", "droid_molmo_sam2/images/episode_809/0065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the block inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the block inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.609, 0.783]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.785]). The trajectory involves 66 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_809", "trajectory_length": 66, "key_frame_indices": [ 0, 50, 65 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_809.json" } }, { "id": "droid_molmo_sam2_episode_6115", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6115/0000.jpg", "droid_molmo_sam2/images/episode_6115/0234.jpg", "droid_molmo_sam2/images/episode_6115/0392.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.623, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.873]). The trajectory involves 393 precise waypoints with total movement distance of 1.298." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6115", "trajectory_length": 393, "key_frame_indices": [ 0, 234, 392 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6115.json" } }, { "id": "droid_molmo_sam2_episode_32600", "task": "Arrange the black objects together", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32600/0000.jpg", "droid_molmo_sam2/images/episode_32600/0500.jpg", "droid_molmo_sam2/images/episode_32600/0711.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Arrange the black objects together?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Arrange the black objects together, execute the following phases: 1) Initial approach phase (start at [0.611, 0.872]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.709]). The trajectory involves 712 precise waypoints with total movement distance of 1.704." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32600", "trajectory_length": 712, "key_frame_indices": [ 0, 500, 711 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32600.json" } }, { "id": "droid_molmo_sam2_episode_35602", "task": "Drop the towel from the stand to the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35602/0000.jpg", "droid_molmo_sam2/images/episode_35602/0123.jpg", "droid_molmo_sam2/images/episode_35602/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Drop the towel from the stand to the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Drop the towel from the stand to the table, execute the following phases: 1) Initial approach phase (start at [0.595, 0.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.452]). The trajectory involves 170 precise waypoints with total movement distance of 1.135." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35602", "trajectory_length": 170, "key_frame_indices": [ 0, 123, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35602.json" } }, { "id": "droid_molmo_sam2_episode_1767", "task": "Slide the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1767/0000.jpg", "droid_molmo_sam2/images/episode_1767/0144.jpg", "droid_molmo_sam2/images/episode_1767/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.624, 0.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.312]). The trajectory involves 209 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1767", "trajectory_length": 209, "key_frame_indices": [ 0, 144, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1767.json" } }, { "id": "droid_molmo_sam2_episode_36395", "task": "Remove the green clothing from the bed and place it inside the topmost drawer on the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36395/0000.jpg", "droid_molmo_sam2/images/episode_36395/0160.jpg", "droid_molmo_sam2/images/episode_36395/0310.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green clothing from the bed and place it inside the topmost drawer on the left?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green clothing from the bed and place it inside the topmost drawer on the left, execute the following phases: 1) Initial approach phase (start at [0.530, 0.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.649]). The trajectory involves 311 precise waypoints with total movement distance of 1.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36395", "trajectory_length": 311, "key_frame_indices": [ 0, 160, 310 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36395.json" } }, { "id": "droid_molmo_sam2_episode_3284", "task": "Open the left door to the cupboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3284/0000.jpg", "droid_molmo_sam2/images/episode_3284/0186.jpg", "droid_molmo_sam2/images/episode_3284/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left door to the cupboard?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left door to the cupboard, execute the following phases: 1) Initial approach phase (start at [0.502, 0.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.238]). The trajectory involves 219 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3284", "trajectory_length": 219, "key_frame_indices": [ 0, 186, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3284.json" } }, { "id": "droid_molmo_sam2_episode_31238", "task": "Close the lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31238/0000.jpg", "droid_molmo_sam2/images/episode_31238/0117.jpg", "droid_molmo_sam2/images/episode_31238/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid, execute the following phases: 1) Initial approach phase (start at [0.199, 0.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.499]). The trajectory involves 154 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31238", "trajectory_length": 154, "key_frame_indices": [ 0, 117, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31238.json" } }, { "id": "droid_molmo_sam2_episode_31269", "task": "Place the pink lid on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31269/0000.jpg", "droid_molmo_sam2/images/episode_31269/0164.jpg", "droid_molmo_sam2/images/episode_31269/0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the pink lid on the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the pink lid on the bowl, execute the following phases: 1) Initial approach phase (start at [0.635, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 0.470]). The trajectory involves 238 precise waypoints with total movement distance of 0.899." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31269", "trajectory_length": 238, "key_frame_indices": [ 0, 164, 237 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31269.json" } }, { "id": "droid_molmo_sam2_episode_36484", "task": "Move the white cup to the left end of the table behind the plate dryer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36484/0000.jpg", "droid_molmo_sam2/images/episode_36484/0152.jpg", "droid_molmo_sam2/images/episode_36484/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup to the left end of the table behind the plate dryer?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup to the left end of the table behind the plate dryer, execute the following phases: 1) Initial approach phase (start at [0.796, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.774]). The trajectory involves 164 precise waypoints with total movement distance of 0.634." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36484", "trajectory_length": 164, "key_frame_indices": [ 0, 152, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36484.json" } }, { "id": "droid_molmo_sam2_episode_2435", "task": "Put the bottle upright to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2435/0000.jpg", "droid_molmo_sam2/images/episode_2435/0193.jpg", "droid_molmo_sam2/images/episode_2435/0292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle upright to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the bottle upright to the right, execute the following phases: 1) Initial approach phase (start at [0.419, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 0.701]). The trajectory involves 293 precise waypoints with total movement distance of 2.169." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2435", "trajectory_length": 293, "key_frame_indices": [ 0, 193, 292 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2435.json" } }, { "id": "droid_molmo_sam2_episode_6243", "task": "Push the button to open the microwave door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6243/0000.jpg", "droid_molmo_sam2/images/episode_6243/0020.jpg", "droid_molmo_sam2/images/episode_6243/0383.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the button to open the microwave door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Push the button to open the microwave door, execute the following phases: 1) Initial approach phase (start at [0.595, 0.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.445]). The trajectory involves 384 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6243", "trajectory_length": 384, "key_frame_indices": [ 0, 20, 383 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6243.json" } }, { "id": "droid_molmo_sam2_episode_35875", "task": "Put the orange marker in the bowl on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35875/0000.jpg", "droid_molmo_sam2/images/episode_35875/0093.jpg", "droid_molmo_sam2/images/episode_35875/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker in the bowl on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange marker in the bowl on the table, execute the following phases: 1) Initial approach phase (start at [0.522, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.582]). The trajectory involves 190 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35875", "trajectory_length": 190, "key_frame_indices": [ 0, 93, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35875.json" } }, { "id": "droid_molmo_sam2_episode_35852", "task": "Use the lint roller to clean the napkin on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35852/0000.jpg", "droid_molmo_sam2/images/episode_35852/0286.jpg", "droid_molmo_sam2/images/episode_35852/0517.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the lint roller to clean the napkin on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the lint roller to clean the napkin on the table, execute the following phases: 1) Initial approach phase (start at [0.464, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.600]). The trajectory involves 518 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35852", "trajectory_length": 518, "key_frame_indices": [ 0, 286, 517 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35852.json" } }, { "id": "droid_molmo_sam2_episode_6099", "task": "Move the white cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6099/0000.jpg", "droid_molmo_sam2/images/episode_6099/0061.jpg", "droid_molmo_sam2/images/episode_6099/0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup to the left, execute the following phases: 1) Initial approach phase (start at [0.582, 0.687]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.596]). The trajectory involves 97 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6099", "trajectory_length": 97, "key_frame_indices": [ 0, 61, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6099.json" } }, { "id": "droid_molmo_sam2_episode_6164", "task": "Put the pink bowl on top of the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6164/0000.jpg", "droid_molmo_sam2/images/episode_6164/0107.jpg", "droid_molmo_sam2/images/episode_6164/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink bowl on top of the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink bowl on top of the black bowl, execute the following phases: 1) Initial approach phase (start at [0.655, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.589]). The trajectory involves 170 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6164", "trajectory_length": 170, "key_frame_indices": [ 0, 107, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6164.json" } }, { "id": "droid_molmo_sam2_episode_35132", "task": "Unfold the green towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35132/0000.jpg", "droid_molmo_sam2/images/episode_35132/0091.jpg", "droid_molmo_sam2/images/episode_35132/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the green towel, execute the following phases: 1) Initial approach phase (start at [0.477, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.424]). The trajectory involves 142 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35132", "trajectory_length": 142, "key_frame_indices": [ 0, 91, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35132.json" } }, { "id": "droid_molmo_sam2_episode_35924", "task": "Use the white and red towel to wipe the mirror then place it back on the box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35924/0000.jpg", "droid_molmo_sam2/images/episode_35924/0276.jpg", "droid_molmo_sam2/images/episode_35924/0394.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white and red towel to wipe the mirror then place it back on the box.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white and red towel to wipe the mirror then place it back on the box., execute the following phases: 1) Initial approach phase (start at [0.581, 0.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.350]). The trajectory involves 395 precise waypoints with total movement distance of 2.759." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35924", "trajectory_length": 395, "key_frame_indices": [ 0, 276, 394 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35924.json" } }, { "id": "droid_molmo_sam2_episode_4428", "task": "Twist the second last knob to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4428/0000.jpg", "droid_molmo_sam2/images/episode_4428/0032.jpg", "droid_molmo_sam2/images/episode_4428/0136.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_molmo_sam2 manipulation: Twist the second last knob to the right, execute the following phases: 1) Initial approach phase (start at [0.582, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.841]). The trajectory involves 137 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4428", "trajectory_length": 137, "key_frame_indices": [ 0, 32, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4428.json" } }, { "id": "droid_molmo_sam2_episode_1329", "task": "Move the green towel to the bottom left corner of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1329/0000.jpg", "droid_molmo_sam2/images/episode_1329/0146.jpg", "droid_molmo_sam2/images/episode_1329/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the bottom left corner of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the bottom left corner of the table, execute the following phases: 1) Initial approach phase (start at [0.381, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.556]). The trajectory involves 174 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1329", "trajectory_length": 174, "key_frame_indices": [ 0, 146, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1329.json" } }, { "id": "droid_molmo_sam2_episode_3467", "task": "Open the coffee maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3467/0000.jpg", "droid_molmo_sam2/images/episode_3467/0162.jpg", "droid_molmo_sam2/images/episode_3467/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.649, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.375]). The trajectory involves 193 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3467", "trajectory_length": 193, "key_frame_indices": [ 0, 162, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3467.json" } }, { "id": "droid_molmo_sam2_episode_39310", "task": "Put the yellow pepper in the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39310/0000.jpg", "droid_molmo_sam2/images/episode_39310/0085.jpg", "droid_molmo_sam2/images/episode_39310/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow pepper in the drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow pepper in the drawer, execute the following phases: 1) Initial approach phase (start at [0.383, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.363]). The trajectory involves 135 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39310", "trajectory_length": 135, "key_frame_indices": [ 0, 85, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39310.json" } }, { "id": "droid_molmo_sam2_episode_3739", "task": "Pick up the lid and cover the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3739/0000.jpg", "droid_molmo_sam2/images/episode_3739/0213.jpg", "droid_molmo_sam2/images/episode_3739/0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid and cover the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the lid and cover the pot, execute the following phases: 1) Initial approach phase (start at [0.419, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.553]). The trajectory involves 234 precise waypoints with total movement distance of 1.346." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3739", "trajectory_length": 234, "key_frame_indices": [ 0, 213, 233 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3739.json" } }, { "id": "droid_molmo_sam2_episode_6283", "task": "Pick up the rope on the chair and put it in the box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6283/0000.jpg", "droid_molmo_sam2/images/episode_6283/0078.jpg", "droid_molmo_sam2/images/episode_6283/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rope on the chair and put it in the box.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the rope on the chair and put it in the box., execute the following phases: 1) Initial approach phase (start at [0.643, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.813]). The trajectory involves 131 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6283", "trajectory_length": 131, "key_frame_indices": [ 0, 78, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6283.json" } }, { "id": "droid_molmo_sam2_episode_7238", "task": "Remove the marker from the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7238/0000.jpg", "droid_molmo_sam2/images/episode_7238/0094.jpg", "droid_molmo_sam2/images/episode_7238/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.492, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.515]). The trajectory involves 138 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7238", "trajectory_length": 138, "key_frame_indices": [ 0, 94, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7238.json" } }, { "id": "droid_molmo_sam2_episode_7254", "task": "Push the kettle lid button", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7254/0000.jpg", "droid_molmo_sam2/images/episode_7254/0075.jpg", "droid_molmo_sam2/images/episode_7254/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the kettle lid button?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the kettle lid button, execute the following phases: 1) Initial approach phase (start at [0.667, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.667, 0.397]). The trajectory involves 130 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7254", "trajectory_length": 130, "key_frame_indices": [ 0, 75, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7254.json" } }, { "id": "droid_molmo_sam2_episode_35719", "task": "Use the towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35719/0000.jpg", "droid_molmo_sam2/images/episode_35719/0088.jpg", "droid_molmo_sam2/images/episode_35719/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.559, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.451]). The trajectory involves 205 precise waypoints with total movement distance of 1.692." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35719", "trajectory_length": 205, "key_frame_indices": [ 0, 88, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35719.json" } }, { "id": "droid_molmo_sam2_episode_1869", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1869/0000.jpg", "droid_molmo_sam2/images/episode_1869/0362.jpg", "droid_molmo_sam2/images/episode_1869/0921.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.370, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.518]). The trajectory involves 922 precise waypoints with total movement distance of 5.470." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1869", "trajectory_length": 922, "key_frame_indices": [ 0, 362, 921 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1869.json" } }, { "id": "droid_molmo_sam2_episode_3774", "task": "Put the paper cups in the paper plates", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3774/0000.jpg", "droid_molmo_sam2/images/episode_3774/0123.jpg", "droid_molmo_sam2/images/episode_3774/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the paper cups in the paper plates?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the paper cups in the paper plates, execute the following phases: 1) Initial approach phase (start at [0.697, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.806, 0.676]). The trajectory involves 193 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3774", "trajectory_length": 193, "key_frame_indices": [ 0, 123, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3774.json" } }, { "id": "droid_molmo_sam2_episode_7400", "task": "Move the plush toys in the white bowl into the blue container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7400/0000.jpg", "droid_molmo_sam2/images/episode_7400/0237.jpg", "droid_molmo_sam2/images/episode_7400/0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plush toys in the white bowl into the blue container?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plush toys in the white bowl into the blue container, execute the following phases: 1) Initial approach phase (start at [0.663, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.549]). The trajectory involves 298 precise waypoints with total movement distance of 0.738." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7400", "trajectory_length": 298, "key_frame_indices": [ 0, 237, 297 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7400.json" } }, { "id": "droid_molmo_sam2_episode_3337", "task": "Put the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3337/0000.jpg", "droid_molmo_sam2/images/episode_3337/0087.jpg", "droid_molmo_sam2/images/episode_3337/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.459, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.558]). The trajectory involves 141 precise waypoints with total movement distance of 1.329." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3337", "trajectory_length": 141, "key_frame_indices": [ 0, 87, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3337.json" } }, { "id": "droid_molmo_sam2_episode_32809", "task": "Put the cube on the smaller rectangular block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32809/0000.jpg", "droid_molmo_sam2/images/episode_32809/0161.jpg", "droid_molmo_sam2/images/episode_32809/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cube on the smaller rectangular block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cube on the smaller rectangular block, execute the following phases: 1) Initial approach phase (start at [0.467, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.465]). The trajectory involves 168 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32809", "trajectory_length": 168, "key_frame_indices": [ 0, 161, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32809.json" } }, { "id": "droid_molmo_sam2_episode_3997", "task": "Close the bottom drawer on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3997/0000.jpg", "droid_molmo_sam2/images/episode_3997/0048.jpg", "droid_molmo_sam2/images/episode_3997/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer on the right, execute the following phases: 1) Initial approach phase (start at [0.607, 0.914]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.580, 0.888]). The trajectory involves 86 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3997", "trajectory_length": 86, "key_frame_indices": [ 0, 48, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3997.json" } }, { "id": "droid_molmo_sam2_episode_4242", "task": "Put the green can inside the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4242/0000.jpg", "droid_molmo_sam2/images/episode_4242/0129.jpg", "droid_molmo_sam2/images/episode_4242/0285.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_molmo_sam2 manipulation: Put the green can inside the cabinet, execute the following phases: 1) Initial approach phase (start at [0.321, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.174]). The trajectory involves 286 precise waypoints with total movement distance of 0.939." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4242", "trajectory_length": 286, "key_frame_indices": [ 0, 129, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4242.json" } }, { "id": "droid_molmo_sam2_episode_30877", "task": "Remove the pink plate from the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30877/0000.jpg", "droid_molmo_sam2/images/episode_30877/0153.jpg", "droid_molmo_sam2/images/episode_30877/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pink plate from the blue bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pink plate from the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.739, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.599]). The trajectory involves 215 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30877", "trajectory_length": 215, "key_frame_indices": [ 0, 153, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30877.json" } }, { "id": "droid_molmo_sam2_episode_36317", "task": "Move the cream clothing to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36317/0000.jpg", "droid_molmo_sam2/images/episode_36317/0127.jpg", "droid_molmo_sam2/images/episode_36317/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cream clothing to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cream clothing to the left, execute the following phases: 1) Initial approach phase (start at [0.893, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.874, 0.931]). The trajectory involves 169 precise waypoints with total movement distance of 1.327." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36317", "trajectory_length": 169, "key_frame_indices": [ 0, 127, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36317.json" } }, { "id": "droid_molmo_sam2_episode_31677", "task": "Close the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31677/0000.jpg", "droid_molmo_sam2/images/episode_31677/0106.jpg", "droid_molmo_sam2/images/episode_31677/0140.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 [0.539, 0.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.210]). The trajectory involves 141 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31677", "trajectory_length": 141, "key_frame_indices": [ 0, 106, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31677.json" } }, { "id": "droid_molmo_sam2_episode_2134", "task": "Turn the faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2134/0000.jpg", "droid_molmo_sam2/images/episode_2134/0165.jpg", "droid_molmo_sam2/images/episode_2134/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the faucet to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.799, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.800, 0.582]). The trajectory involves 194 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2134", "trajectory_length": 194, "key_frame_indices": [ 0, 165, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2134.json" } }, { "id": "droid_molmo_sam2_episode_38118", "task": "Move the marker to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38118/0000.jpg", "droid_molmo_sam2/images/episode_38118/0134.jpg", "droid_molmo_sam2/images/episode_38118/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.537, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.637]). The trajectory involves 158 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38118", "trajectory_length": 158, "key_frame_indices": [ 0, 134, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38118.json" } }, { "id": "droid_molmo_sam2_episode_2733", "task": "Pull out one tissue from the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2733/0000.jpg", "droid_molmo_sam2/images/episode_2733/0165.jpg", "droid_molmo_sam2/images/episode_2733/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out one tissue from the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out one tissue from the box, execute the following phases: 1) Initial approach phase (start at [0.341, 0.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.572]). The trajectory involves 186 precise waypoints with total movement distance of 0.733." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2733", "trajectory_length": 186, "key_frame_indices": [ 0, 165, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2733.json" } }, { "id": "droid_molmo_sam2_episode_3805", "task": "Put the carrot plushie on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3805/0000.jpg", "droid_molmo_sam2/images/episode_3805/0089.jpg", "droid_molmo_sam2/images/episode_3805/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plushie on the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plushie on the pan, execute the following phases: 1) Initial approach phase (start at [0.601, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.501]). The trajectory involves 131 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3805", "trajectory_length": 131, "key_frame_indices": [ 0, 89, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3805.json" } }, { "id": "droid_molmo_sam2_episode_847", "task": "Move the clear container backwards.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_847/0000.jpg", "droid_molmo_sam2/images/episode_847/0147.jpg", "droid_molmo_sam2/images/episode_847/0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear container backwards.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear container backwards., execute the following phases: 1) Initial approach phase (start at [0.668, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.596, 0.609]). The trajectory involves 165 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_847", "trajectory_length": 165, "key_frame_indices": [ 0, 147, 164 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_847.json" } }, { "id": "droid_molmo_sam2_episode_6617", "task": "Fold the right sleeve of the orange shirt then fold the shirt from bottom to top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6617/0000.jpg", "droid_molmo_sam2/images/episode_6617/0276.jpg", "droid_molmo_sam2/images/episode_6617/0343.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the right sleeve of the orange shirt then fold the shirt from bottom to top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the right sleeve of the orange shirt then fold the shirt from bottom to top, execute the following phases: 1) Initial approach phase (start at [0.677, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.488]). The trajectory involves 344 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6617", "trajectory_length": 344, "key_frame_indices": [ 0, 276, 343 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6617.json" } }, { "id": "droid_molmo_sam2_episode_3929", "task": "Take the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3929/0000.jpg", "droid_molmo_sam2/images/episode_3929/0069.jpg", "droid_molmo_sam2/images/episode_3929/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.516, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.572]). The trajectory involves 169 precise waypoints with total movement distance of 0.814." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3929", "trajectory_length": 169, "key_frame_indices": [ 0, 69, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3929.json" } }, { "id": "droid_molmo_sam2_episode_31490", "task": "Remove the white cloth from the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31490/0000.jpg", "droid_molmo_sam2/images/episode_31490/0075.jpg", "droid_molmo_sam2/images/episode_31490/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cloth from the black stand?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cloth from the black stand, execute the following phases: 1) Initial approach phase (start at [0.549, 0.096]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.550, 0.190]). The trajectory involves 104 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31490", "trajectory_length": 104, "key_frame_indices": [ 0, 75, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31490.json" } }, { "id": "droid_molmo_sam2_episode_37527", "task": "Move the pink ball", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37527/0000.jpg", "droid_molmo_sam2/images/episode_37527/0061.jpg", "droid_molmo_sam2/images/episode_37527/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pink ball?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pink ball, execute the following phases: 1) Initial approach phase (start at [0.592, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.758, 0.610]). The trajectory involves 167 precise waypoints with total movement distance of 0.787." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37527", "trajectory_length": 167, "key_frame_indices": [ 0, 61, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37527.json" } }, { "id": "droid_molmo_sam2_episode_32496", "task": "Move the plastic bag downwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32496/0000.jpg", "droid_molmo_sam2/images/episode_32496/0144.jpg", "droid_molmo_sam2/images/episode_32496/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plastic bag downwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plastic bag downwards, execute the following phases: 1) Initial approach phase (start at [0.286, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.750]). The trajectory involves 225 precise waypoints with total movement distance of 1.040." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32496", "trajectory_length": 225, "key_frame_indices": [ 0, 144, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32496.json" } }, { "id": "droid_molmo_sam2_episode_33862", "task": "Wipe the plate with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33862/0000.jpg", "droid_molmo_sam2/images/episode_33862/0314.jpg", "droid_molmo_sam2/images/episode_33862/0361.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the plate with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the plate with the cloth, execute the following phases: 1) Initial approach phase (start at [0.532, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.654]). The trajectory involves 362 precise waypoints with total movement distance of 1.566." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33862", "trajectory_length": 362, "key_frame_indices": [ 0, 314, 361 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33862.json" } }, { "id": "droid_molmo_sam2_episode_3225", "task": "Put the brown cup in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3225/0000.jpg", "droid_molmo_sam2/images/episode_3225/0099.jpg", "droid_molmo_sam2/images/episode_3225/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the brown cup in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the brown cup in the sink, execute the following phases: 1) Initial approach phase (start at [0.513, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.709]). The trajectory involves 124 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3225", "trajectory_length": 124, "key_frame_indices": [ 0, 99, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3225.json" } }, { "id": "droid_molmo_sam2_episode_33449", "task": "Close the brown box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33449/0000.jpg", "droid_molmo_sam2/images/episode_33449/0101.jpg", "droid_molmo_sam2/images/episode_33449/0140.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 [0.571, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.863]). The trajectory involves 141 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33449", "trajectory_length": 141, "key_frame_indices": [ 0, 101, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33449.json" } }, { "id": "droid_molmo_sam2_episode_32133", "task": "Fold up the peach sweat shirt on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32133/0000.jpg", "droid_molmo_sam2/images/episode_32133/0454.jpg", "droid_molmo_sam2/images/episode_32133/0722.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold up the peach sweat shirt on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold up the peach sweat shirt on the table., execute the following phases: 1) Initial approach phase (start at [0.587, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.860]). The trajectory involves 723 precise waypoints with total movement distance of 2.296." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32133", "trajectory_length": 723, "key_frame_indices": [ 0, 454, 722 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32133.json" } }, { "id": "droid_molmo_sam2_episode_168", "task": "Make a knot with the object on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_168/0000.jpg", "droid_molmo_sam2/images/episode_168/0303.jpg", "droid_molmo_sam2/images/episode_168/0870.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Make a knot with the object on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Make a knot with the object on the table, execute the following phases: 1) Initial approach phase (start at [0.454, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.459]). The trajectory involves 871 precise waypoints with total movement distance of 4.368." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_168", "trajectory_length": 871, "key_frame_indices": [ 0, 303, 870 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_168.json" } }, { "id": "droid_molmo_sam2_episode_38380", "task": "Move the bowl slightly downward on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38380/0000.jpg", "droid_molmo_sam2/images/episode_38380/0064.jpg", "droid_molmo_sam2/images/episode_38380/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl slightly downward on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl slightly downward on the table, execute the following phases: 1) Initial approach phase (start at [0.600, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.534]). The trajectory involves 104 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38380", "trajectory_length": 104, "key_frame_indices": [ 0, 64, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38380.json" } }, { "id": "droid_molmo_sam2_episode_38805", "task": "Slide the cloth to the left on the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38805/0000.jpg", "droid_molmo_sam2/images/episode_38805/0061.jpg", "droid_molmo_sam2/images/episode_38805/0082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cloth to the left on the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cloth to the left on the desk, execute the following phases: 1) Initial approach phase (start at [0.647, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.470, 0.432]). The trajectory involves 83 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38805", "trajectory_length": 83, "key_frame_indices": [ 0, 61, 82 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38805.json" } }, { "id": "droid_molmo_sam2_episode_33405", "task": "Move the mouse to next to the cans", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33405/0000.jpg", "droid_molmo_sam2/images/episode_33405/0108.jpg", "droid_molmo_sam2/images/episode_33405/0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mouse to next to the cans?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mouse to next to the cans, execute the following phases: 1) Initial approach phase (start at [0.914, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.680]). The trajectory involves 187 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33405", "trajectory_length": 187, "key_frame_indices": [ 0, 108, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33405.json" } }, { "id": "droid_molmo_sam2_episode_6490", "task": "Stack the cups together", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6490/0000.jpg", "droid_molmo_sam2/images/episode_6490/0084.jpg", "droid_molmo_sam2/images/episode_6490/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the cups together?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the cups together, execute the following phases: 1) Initial approach phase (start at [0.350, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 0.530]). The trajectory involves 197 precise waypoints with total movement distance of 1.256." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6490", "trajectory_length": 197, "key_frame_indices": [ 0, 84, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6490.json" } }, { "id": "droid_molmo_sam2_episode_38002", "task": "Remove the pear from the black tray and put it in the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38002/0000.jpg", "droid_molmo_sam2/images/episode_38002/0149.jpg", "droid_molmo_sam2/images/episode_38002/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pear from the black tray and put it in the basket?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pear from the black tray and put it in the basket, execute the following phases: 1) Initial approach phase (start at [0.722, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.645]). The trajectory involves 216 precise waypoints with total movement distance of 0.486." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38002", "trajectory_length": 216, "key_frame_indices": [ 0, 149, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38002.json" } }, { "id": "droid_molmo_sam2_episode_3023", "task": "Move the tongs from the hook on the right to the center hook", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3023/0000.jpg", "droid_molmo_sam2/images/episode_3023/0323.jpg", "droid_molmo_sam2/images/episode_3023/0334.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tongs from the hook on the right to the center hook?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tongs from the hook on the right to the center hook, execute the following phases: 1) Initial approach phase (start at [0.425, 0.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.428]). The trajectory involves 335 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3023", "trajectory_length": 335, "key_frame_indices": [ 0, 323, 334 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3023.json" } }, { "id": "droid_molmo_sam2_episode_35968", "task": "Pick up the medicine bottle and move it to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35968/0000.jpg", "droid_molmo_sam2/images/episode_35968/0222.jpg", "droid_molmo_sam2/images/episode_35968/0292.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the medicine bottle and move it to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the medicine bottle and move it to the left., execute the following phases: 1) Initial approach phase (start at [0.625, 0.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.032, 0.125]). The trajectory involves 293 precise waypoints with total movement distance of 1.173." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35968", "trajectory_length": 293, "key_frame_indices": [ 0, 222, 292 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35968.json" } }, { "id": "droid_molmo_sam2_episode_33923", "task": "Fold the green cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33923/0000.jpg", "droid_molmo_sam2/images/episode_33923/0134.jpg", "droid_molmo_sam2/images/episode_33923/0248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the green cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the green cloth, execute the following phases: 1) Initial approach phase (start at [0.486, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.653]). The trajectory involves 249 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33923", "trajectory_length": 249, "key_frame_indices": [ 0, 134, 248 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33923.json" } }, { "id": "droid_molmo_sam2_episode_36287", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36287/0000.jpg", "droid_molmo_sam2/images/episode_36287/0172.jpg", "droid_molmo_sam2/images/episode_36287/0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.710, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.523]). The trajectory involves 235 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36287", "trajectory_length": 235, "key_frame_indices": [ 0, 172, 234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36287.json" } }, { "id": "droid_molmo_sam2_episode_30687", "task": "Unfold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30687/0000.jpg", "droid_molmo_sam2/images/episode_30687/0159.jpg", "droid_molmo_sam2/images/episode_30687/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel, execute the following phases: 1) Initial approach phase (start at [0.684, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.658, 0.679]). The trajectory involves 256 precise waypoints with total movement distance of 0.893." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30687", "trajectory_length": 256, "key_frame_indices": [ 0, 159, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30687.json" } }, { "id": "droid_molmo_sam2_episode_6712", "task": "Move the radish and peach shirt to the right, move the yellow towel and pink shirt to the left, move the thick white rope to the right, move the white towel to the back of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6712/0000.jpg", "droid_molmo_sam2/images/episode_6712/0506.jpg", "droid_molmo_sam2/images/episode_6712/1200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the radish and peach shirt to the right, move the yellow towel and pink shirt to the left, move the thick white rope to the right, move the white towel to the back of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the radish and peach shirt to the right, move the yellow towel and pink shirt to the left, move the thick white rope to the right, move the white towel to the back of the table, execute the following phases: 1) Initial approach phase (start at [0.523, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.592]). The trajectory involves 1201 precise waypoints with total movement distance of 3.574." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6712", "trajectory_length": 1201, "key_frame_indices": [ 0, 506, 1200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6712.json" } }, { "id": "droid_molmo_sam2_episode_32729", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32729/0000.jpg", "droid_molmo_sam2/images/episode_32729/0086.jpg", "droid_molmo_sam2/images/episode_32729/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.482, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 105 precise waypoints with total movement distance of 0.685." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32729", "trajectory_length": 105, "key_frame_indices": [ 0, 86, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32729.json" } }, { "id": "droid_molmo_sam2_episode_37205", "task": "Put the green marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37205/0000.jpg", "droid_molmo_sam2/images/episode_37205/0134.jpg", "droid_molmo_sam2/images/episode_37205/0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker on the table, execute the following phases: 1) Initial approach phase (start at [0.521, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.452]). The trajectory involves 187 precise waypoints with total movement distance of 0.974." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37205", "trajectory_length": 187, "key_frame_indices": [ 0, 134, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37205.json" } }, { "id": "droid_molmo_sam2_episode_33720", "task": "Pick the yellow towel and put it inside the bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33720/0000.jpg", "droid_molmo_sam2/images/episode_33720/0235.jpg", "droid_molmo_sam2/images/episode_33720/0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the yellow towel and put it inside the bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the yellow towel and put it inside the bag, execute the following phases: 1) Initial approach phase (start at [0.582, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.721]). The trajectory involves 265 precise waypoints with total movement distance of 1.460." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33720", "trajectory_length": 265, "key_frame_indices": [ 0, 235, 264 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33720.json" } }, { "id": "droid_molmo_sam2_episode_31375", "task": "Place the red marker inside the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31375/0000.jpg", "droid_molmo_sam2/images/episode_31375/0075.jpg", "droid_molmo_sam2/images/episode_31375/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the red marker inside the white mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the red marker inside the white mug, execute the following phases: 1) Initial approach phase (start at [0.439, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.558]). The trajectory involves 136 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31375", "trajectory_length": 136, "key_frame_indices": [ 0, 75, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31375.json" } }, { "id": "droid_molmo_sam2_episode_31754", "task": "Put the cloth on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31754/0000.jpg", "droid_molmo_sam2/images/episode_31754/0125.jpg", "droid_molmo_sam2/images/episode_31754/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the table., execute the following phases: 1) Initial approach phase (start at [0.477, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.888]). The trajectory involves 152 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31754", "trajectory_length": 152, "key_frame_indices": [ 0, 125, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31754.json" } }, { "id": "droid_molmo_sam2_episode_38574", "task": "Put the purple object in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38574/0000.jpg", "droid_molmo_sam2/images/episode_38574/0096.jpg", "droid_molmo_sam2/images/episode_38574/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple object in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple object in the bowl, execute the following phases: 1) Initial approach phase (start at [0.602, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.460]). The trajectory involves 124 precise waypoints with total movement distance of 0.747." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38574", "trajectory_length": 124, "key_frame_indices": [ 0, 96, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38574.json" } }, { "id": "droid_molmo_sam2_episode_3197", "task": "Pick the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3197/0000.jpg", "droid_molmo_sam2/images/episode_3197/0094.jpg", "droid_molmo_sam2/images/episode_3197/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the bowl and put 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, execute the following phases: 1) Initial approach phase (start at [0.518, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.612]). The trajectory involves 166 precise waypoints with total movement distance of 0.820." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3197", "trajectory_length": 166, "key_frame_indices": [ 0, 94, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3197.json" } }, { "id": "droid_molmo_sam2_episode_4413", "task": "Slide the towel backward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4413/0000.jpg", "droid_molmo_sam2/images/episode_4413/0072.jpg", "droid_molmo_sam2/images/episode_4413/0096.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 [0.504, 0.659]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.795, 0.726]). The trajectory involves 97 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4413", "trajectory_length": 97, "key_frame_indices": [ 0, 72, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4413.json" } }, { "id": "droid_molmo_sam2_episode_38879", "task": "Put the packet in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38879/0000.jpg", "droid_molmo_sam2/images/episode_38879/0195.jpg", "droid_molmo_sam2/images/episode_38879/0283.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the packet in the sink, execute the following phases: 1) Initial approach phase (start at [0.322, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.939]). The trajectory involves 284 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38879", "trajectory_length": 284, "key_frame_indices": [ 0, 195, 283 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38879.json" } }, { "id": "droid_molmo_sam2_episode_36624", "task": "Open the lid of the coffee maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36624/0000.jpg", "droid_molmo_sam2/images/episode_36624/0214.jpg", "droid_molmo_sam2/images/episode_36624/0317.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the coffee maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.462, 0.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.288]). The trajectory involves 318 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36624", "trajectory_length": 318, "key_frame_indices": [ 0, 214, 317 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36624.json" } }, { "id": "droid_molmo_sam2_episode_31354", "task": "Use the towel to wipe the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31354/0000.jpg", "droid_molmo_sam2/images/episode_31354/0290.jpg", "droid_molmo_sam2/images/episode_31354/0698.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_molmo_sam2 manipulation: Use the towel to wipe the pan, execute the following phases: 1) Initial approach phase (start at [0.463, 0.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.369]). The trajectory involves 699 precise waypoints with total movement distance of 2.007." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31354", "trajectory_length": 699, "key_frame_indices": [ 0, 290, 698 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31354.json" } }, { "id": "droid_molmo_sam2_episode_36329", "task": "Push the clear storage bin backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36329/0000.jpg", "droid_molmo_sam2/images/episode_36329/0103.jpg", "droid_molmo_sam2/images/episode_36329/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the clear storage bin backwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the clear storage bin backwards, execute the following phases: 1) Initial approach phase (start at [0.480, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.674]). The trajectory involves 122 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36329", "trajectory_length": 122, "key_frame_indices": [ 0, 103, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36329.json" } }, { "id": "droid_molmo_sam2_episode_3360", "task": "Slide the first rod to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3360/0000.jpg", "droid_molmo_sam2/images/episode_3360/0124.jpg", "droid_molmo_sam2/images/episode_3360/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the first rod to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the first rod to the left, execute the following phases: 1) Initial approach phase (start at [0.705, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.552]). The trajectory involves 150 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3360", "trajectory_length": 150, "key_frame_indices": [ 0, 124, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3360.json" } }, { "id": "droid_molmo_sam2_episode_38729", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38729/0000.jpg", "droid_molmo_sam2/images/episode_38729/0067.jpg", "droid_molmo_sam2/images/episode_38729/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.334, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.563]). The trajectory involves 106 precise waypoints with total movement distance of 0.526." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38729", "trajectory_length": 106, "key_frame_indices": [ 0, 67, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38729.json" } }, { "id": "droid_molmo_sam2_episode_4026", "task": "Move the mug to the left slightly", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4026/0000.jpg", "droid_molmo_sam2/images/episode_4026/0126.jpg", "droid_molmo_sam2/images/episode_4026/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left slightly?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left slightly, execute the following phases: 1) Initial approach phase (start at [0.629, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.581]). The trajectory involves 181 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4026", "trajectory_length": 181, "key_frame_indices": [ 0, 126, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4026.json" } }, { "id": "droid_molmo_sam2_episode_31427", "task": "Open the door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31427/0000.jpg", "droid_molmo_sam2/images/episode_31427/0221.jpg", "droid_molmo_sam2/images/episode_31427/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door, execute the following phases: 1) Initial approach phase (start at [0.491, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.707]). The trajectory involves 233 precise waypoints with total movement distance of 2.071." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31427", "trajectory_length": 233, "key_frame_indices": [ 0, 221, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31427.json" } }, { "id": "droid_molmo_sam2_episode_2990", "task": "Pour the contents of the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2990/0000.jpg", "droid_molmo_sam2/images/episode_2990/0102.jpg", "droid_molmo_sam2/images/episode_2990/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.350, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.877]). The trajectory involves 122 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2990", "trajectory_length": 122, "key_frame_indices": [ 0, 102, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2990.json" } }, { "id": "droid_molmo_sam2_episode_3709", "task": "Use the yellow towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3709/0000.jpg", "droid_molmo_sam2/images/episode_3709/0108.jpg", "droid_molmo_sam2/images/episode_3709/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.473, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.565]). The trajectory involves 118 precise waypoints with total movement distance of 0.942." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3709", "trajectory_length": 118, "key_frame_indices": [ 0, 108, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3709.json" } }, { "id": "droid_molmo_sam2_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_molmo_sam2/images/episode_6177/0000.jpg", "droid_molmo_sam2/images/episode_6177/0288.jpg", "droid_molmo_sam2/images/episode_6177/0407.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 [0.566, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.912]). The trajectory involves 408 precise waypoints with total movement distance of 1.965." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6177", "trajectory_length": 408, "key_frame_indices": [ 0, 288, 407 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6177.json" } }, { "id": "droid_molmo_sam2_episode_32602", "task": "Move the marker to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32602/0000.jpg", "droid_molmo_sam2/images/episode_32602/0103.jpg", "droid_molmo_sam2/images/episode_32602/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left., execute the following phases: 1) Initial approach phase (start at [0.689, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.521]). The trajectory involves 129 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32602", "trajectory_length": 129, "key_frame_indices": [ 0, 103, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32602.json" } }, { "id": "droid_molmo_sam2_episode_39393", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39393/0000.jpg", "droid_molmo_sam2/images/episode_39393/0179.jpg", "droid_molmo_sam2/images/episode_39393/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.694, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 229 precise waypoints with total movement distance of 1.225." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39393", "trajectory_length": 229, "key_frame_indices": [ 0, 179, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39393.json" } }, { "id": "droid_molmo_sam2_episode_36969", "task": "Pick the object and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36969/0000.jpg", "droid_molmo_sam2/images/episode_36969/0093.jpg", "droid_molmo_sam2/images/episode_36969/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the object and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.807, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.331]). The trajectory involves 156 precise waypoints with total movement distance of 0.874." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36969", "trajectory_length": 156, "key_frame_indices": [ 0, 93, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36969.json" } }, { "id": "droid_molmo_sam2_episode_3237", "task": "Move the grey cube to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3237/0000.jpg", "droid_molmo_sam2/images/episode_3237/0157.jpg", "droid_molmo_sam2/images/episode_3237/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey cube to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey cube to the right, execute the following phases: 1) Initial approach phase (start at [0.583, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.713]). The trajectory involves 164 precise waypoints with total movement distance of 0.727." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3237", "trajectory_length": 164, "key_frame_indices": [ 0, 157, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3237.json" } }, { "id": "droid_molmo_sam2_episode_2565", "task": "Put the purple plushy on the cream plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2565/0000.jpg", "droid_molmo_sam2/images/episode_2565/0032.jpg", "droid_molmo_sam2/images/episode_2565/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple plushy on the cream plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple plushy on the cream plate, execute the following phases: 1) Initial approach phase (start at [0.543, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.540]). The trajectory involves 141 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2565", "trajectory_length": 141, "key_frame_indices": [ 0, 32, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2565.json" } }, { "id": "droid_molmo_sam2_episode_2666", "task": "Move the white sneaker to the rail below it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2666/0000.jpg", "droid_molmo_sam2/images/episode_2666/0124.jpg", "droid_molmo_sam2/images/episode_2666/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white sneaker to the rail below it?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white sneaker to the rail below it, execute the following phases: 1) Initial approach phase (start at [0.492, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.569]). The trajectory involves 215 precise waypoints with total movement distance of 0.875." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2666", "trajectory_length": 215, "key_frame_indices": [ 0, 124, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2666.json" } }, { "id": "droid_molmo_sam2_episode_32070", "task": "Pour the contents of the orange cup onto the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32070/0000.jpg", "droid_molmo_sam2/images/episode_32070/0315.jpg", "droid_molmo_sam2/images/episode_32070/0489.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the orange cup onto the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the orange cup onto the plate, execute the following phases: 1) Initial approach phase (start at [0.257, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.610]). The trajectory involves 490 precise waypoints with total movement distance of 2.094." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32070", "trajectory_length": 490, "key_frame_indices": [ 0, 315, 489 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32070.json" } }, { "id": "droid_molmo_sam2_episode_30495", "task": "Move the glass cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30495/0000.jpg", "droid_molmo_sam2/images/episode_30495/0085.jpg", "droid_molmo_sam2/images/episode_30495/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the glass cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the glass cup to the right, execute the following phases: 1) Initial approach phase (start at [0.664, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.771, 0.919]). The trajectory involves 135 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30495", "trajectory_length": 135, "key_frame_indices": [ 0, 85, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30495.json" } }, { "id": "droid_molmo_sam2_episode_604", "task": "Move the yellow mug forwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_604/0000.jpg", "droid_molmo_sam2/images/episode_604/0145.jpg", "droid_molmo_sam2/images/episode_604/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug forwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug forwards, execute the following phases: 1) Initial approach phase (start at [0.592, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.610]). The trajectory involves 179 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_604", "trajectory_length": 179, "key_frame_indices": [ 0, 145, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_604.json" } }, { "id": "droid_molmo_sam2_episode_1088", "task": "Remove the purple and orange plushies from the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1088/0000.jpg", "droid_molmo_sam2/images/episode_1088/0147.jpg", "droid_molmo_sam2/images/episode_1088/0349.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple and orange plushies from the box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple and orange plushies from the box, execute the following phases: 1) Initial approach phase (start at [0.511, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.416]). The trajectory involves 350 precise waypoints with total movement distance of 0.919." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1088", "trajectory_length": 350, "key_frame_indices": [ 0, 147, 349 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1088.json" } }, { "id": "droid_molmo_sam2_episode_39770", "task": "Fold the yellow towel from bottom to top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39770/0000.jpg", "droid_molmo_sam2/images/episode_39770/0235.jpg", "droid_molmo_sam2/images/episode_39770/0298.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel from bottom to top?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel from bottom to top, execute the following phases: 1) Initial approach phase (start at [0.528, 0.880]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.859]). The trajectory involves 299 precise waypoints with total movement distance of 0.941." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39770", "trajectory_length": 299, "key_frame_indices": [ 0, 235, 298 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39770.json" } }, { "id": "droid_molmo_sam2_episode_3880", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3880/0000.jpg", "droid_molmo_sam2/images/episode_3880/0045.jpg", "droid_molmo_sam2/images/episode_3880/0079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.631, 0.889]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.583, 0.861]). The trajectory involves 80 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3880", "trajectory_length": 80, "key_frame_indices": [ 0, 45, 79 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3880.json" } }, { "id": "droid_molmo_sam2_episode_6793", "task": "Put the blue-yellow building block on top of the orange building block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6793/0000.jpg", "droid_molmo_sam2/images/episode_6793/0240.jpg", "droid_molmo_sam2/images/episode_6793/0415.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue-yellow building block on top of the orange building block?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue-yellow building block on top of the orange building block, execute the following phases: 1) Initial approach phase (start at [0.513, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.788]). The trajectory involves 416 precise waypoints with total movement distance of 0.793." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6793", "trajectory_length": 416, "key_frame_indices": [ 0, 240, 415 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6793.json" } }, { "id": "droid_molmo_sam2_episode_39282", "task": "Move the bottle to the right and make it lie down", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39282/0000.jpg", "droid_molmo_sam2/images/episode_39282/0113.jpg", "droid_molmo_sam2/images/episode_39282/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right and make it lie down?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right and make it lie down, execute the following phases: 1) Initial approach phase (start at [0.249, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.639, 0.535]). The trajectory involves 166 precise waypoints with total movement distance of 0.749." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39282", "trajectory_length": 166, "key_frame_indices": [ 0, 113, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39282.json" } }, { "id": "droid_molmo_sam2_episode_3970", "task": "Fold the trouser", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3970/0000.jpg", "droid_molmo_sam2/images/episode_3970/0188.jpg", "droid_molmo_sam2/images/episode_3970/0391.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the trouser?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the trouser, execute the following phases: 1) Initial approach phase (start at [0.489, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.639]). The trajectory involves 392 precise waypoints with total movement distance of 2.610." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3970", "trajectory_length": 392, "key_frame_indices": [ 0, 188, 391 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3970.json" } }, { "id": "droid_molmo_sam2_episode_35148", "task": "Stack the bowls", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35148/0000.jpg", "droid_molmo_sam2/images/episode_35148/0071.jpg", "droid_molmo_sam2/images/episode_35148/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the bowls?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the bowls, execute the following phases: 1) Initial approach phase (start at [0.467, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.607]). The trajectory involves 124 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35148", "trajectory_length": 124, "key_frame_indices": [ 0, 71, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35148.json" } }, { "id": "droid_molmo_sam2_episode_882", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_882/0000.jpg", "droid_molmo_sam2/images/episode_882/0066.jpg", "droid_molmo_sam2/images/episode_882/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.497, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.727]). The trajectory involves 110 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_882", "trajectory_length": 110, "key_frame_indices": [ 0, 66, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_882.json" } }, { "id": "droid_molmo_sam2_episode_35259", "task": "Move the white object forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35259/0000.jpg", "droid_molmo_sam2/images/episode_35259/0077.jpg", "droid_molmo_sam2/images/episode_35259/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white object forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white object forward, execute the following phases: 1) Initial approach phase (start at [0.570, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.492]). The trajectory involves 113 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35259", "trajectory_length": 113, "key_frame_indices": [ 0, 77, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35259.json" } }, { "id": "droid_molmo_sam2_episode_33420", "task": "Pour the contents in the blue bowl into the clear bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33420/0000.jpg", "droid_molmo_sam2/images/episode_33420/0550.jpg", "droid_molmo_sam2/images/episode_33420/0566.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the blue bowl into the clear bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the blue bowl into the clear bowl, execute the following phases: 1) Initial approach phase (start at [0.658, 0.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.377]). The trajectory involves 567 precise waypoints with total movement distance of 1.080." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33420", "trajectory_length": 567, "key_frame_indices": [ 0, 550, 566 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33420.json" } }, { "id": "droid_molmo_sam2_episode_694", "task": "Spread the cable on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_694/0000.jpg", "droid_molmo_sam2/images/episode_694/0139.jpg", "droid_molmo_sam2/images/episode_694/0288.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread the cable on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread the cable on the table, execute the following phases: 1) Initial approach phase (start at [0.617, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.589]). The trajectory involves 289 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_694", "trajectory_length": 289, "key_frame_indices": [ 0, 139, 288 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_694.json" } }, { "id": "droid_molmo_sam2_episode_3364", "task": "Use the white towel to wipe the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3364/0000.jpg", "droid_molmo_sam2/images/episode_3364/0357.jpg", "droid_molmo_sam2/images/episode_3364/0442.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white towel to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.570, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.849]). The trajectory involves 443 precise waypoints with total movement distance of 1.514." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3364", "trajectory_length": 443, "key_frame_indices": [ 0, 357, 442 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3364.json" } }, { "id": "droid_molmo_sam2_episode_30711", "task": "Remove the white cloth from the glass panel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30711/0000.jpg", "droid_molmo_sam2/images/episode_30711/0097.jpg", "droid_molmo_sam2/images/episode_30711/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white cloth from the glass panel?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white cloth from the glass panel, execute the following phases: 1) Initial approach phase (start at [0.466, 0.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.867]). The trajectory involves 105 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30711", "trajectory_length": 105, "key_frame_indices": [ 0, 97, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30711.json" } }, { "id": "droid_molmo_sam2_episode_34060", "task": "Remove the cup from the rack and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34060/0000.jpg", "droid_molmo_sam2/images/episode_34060/0529.jpg", "droid_molmo_sam2/images/episode_34060/0562.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cup from the rack and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cup from the rack and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.594, 0.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.500]). The trajectory involves 563 precise waypoints with total movement distance of 1.072." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34060", "trajectory_length": 563, "key_frame_indices": [ 0, 529, 562 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34060.json" } }, { "id": "droid_molmo_sam2_episode_3133", "task": "Remove one white hanger from the rail then hang it back on the rail.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3133/0000.jpg", "droid_molmo_sam2/images/episode_3133/0074.jpg", "droid_molmo_sam2/images/episode_3133/0416.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove one white hanger from the rail then hang it back on the rail.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove one white hanger from the rail then hang it back on the rail., execute the following phases: 1) Initial approach phase (start at [0.100, 0.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.091, 0.090]). The trajectory involves 417 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3133", "trajectory_length": 417, "key_frame_indices": [ 0, 74, 416 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3133.json" } }, { "id": "droid_molmo_sam2_episode_6005", "task": "Use the white towel to wipe the the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6005/0000.jpg", "droid_molmo_sam2/images/episode_6005/0410.jpg", "droid_molmo_sam2/images/episode_6005/0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to wipe the the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the white towel to wipe the the plate, execute the following phases: 1) Initial approach phase (start at [0.460, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.754]). The trajectory involves 455 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6005", "trajectory_length": 455, "key_frame_indices": [ 0, 410, 454 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6005.json" } }, { "id": "droid_molmo_sam2_episode_713", "task": "Make the cup stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_713/0000.jpg", "droid_molmo_sam2/images/episode_713/0212.jpg", "droid_molmo_sam2/images/episode_713/0609.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Make the cup stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Make the cup stand, execute the following phases: 1) Initial approach phase (start at [0.302, 0.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 610 precise waypoints with total movement distance of 3.048." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_713", "trajectory_length": 610, "key_frame_indices": [ 0, 212, 609 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_713.json" } }, { "id": "droid_molmo_sam2_episode_2681", "task": "Use the broom to sweep the sweets to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2681/0000.jpg", "droid_molmo_sam2/images/episode_2681/0176.jpg", "droid_molmo_sam2/images/episode_2681/0451.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the broom to sweep the sweets to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the broom to sweep the sweets to the left, execute the following phases: 1) Initial approach phase (start at [0.645, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 452 precise waypoints with total movement distance of 4.869." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2681", "trajectory_length": 452, "key_frame_indices": [ 0, 176, 451 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2681.json" } }, { "id": "droid_molmo_sam2_episode_32885", "task": "Stack up the two green blocks", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32885/0000.jpg", "droid_molmo_sam2/images/episode_32885/0061.jpg", "droid_molmo_sam2/images/episode_32885/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack up the two green blocks?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack up the two green blocks, execute the following phases: 1) Initial approach phase (start at [0.501, 0.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.197]). The trajectory involves 157 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32885", "trajectory_length": 157, "key_frame_indices": [ 0, 61, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32885.json" } }, { "id": "droid_molmo_sam2_episode_3945", "task": "Move the yellow sponge to the right corner close to you of the wooden board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3945/0000.jpg", "droid_molmo_sam2/images/episode_3945/0135.jpg", "droid_molmo_sam2/images/episode_3945/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow sponge to the right corner close to you of the wooden board?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow sponge to the right corner close to you of the wooden board, execute the following phases: 1) Initial approach phase (start at [0.672, 0.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.830, 0.339]). The trajectory involves 214 precise waypoints with total movement distance of 0.879." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3945", "trajectory_length": 214, "key_frame_indices": [ 0, 135, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3945.json" } }, { "id": "droid_molmo_sam2_episode_37121", "task": "Move the faucet spout to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37121/0000.jpg", "droid_molmo_sam2/images/episode_37121/0088.jpg", "droid_molmo_sam2/images/episode_37121/0100.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 [0.505, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.546]). The trajectory involves 101 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37121", "trajectory_length": 101, "key_frame_indices": [ 0, 88, 100 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37121.json" } }, { "id": "droid_molmo_sam2_episode_31978", "task": "Move the bowl to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31978/0000.jpg", "droid_molmo_sam2/images/episode_31978/0133.jpg", "droid_molmo_sam2/images/episode_31978/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.392, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.536]). The trajectory involves 225 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31978", "trajectory_length": 225, "key_frame_indices": [ 0, 133, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31978.json" } }, { "id": "droid_molmo_sam2_episode_34775", "task": "Put the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34775/0000.jpg", "droid_molmo_sam2/images/episode_34775/0063.jpg", "droid_molmo_sam2/images/episode_34775/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.416, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.531]). The trajectory involves 107 precise waypoints with total movement distance of 0.564." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34775", "trajectory_length": 107, "key_frame_indices": [ 0, 63, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34775.json" } }, { "id": "droid_molmo_sam2_episode_2113", "task": "Move the white mug backwards, put the yellow marker inside the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2113/0000.jpg", "droid_molmo_sam2/images/episode_2113/0380.jpg", "droid_molmo_sam2/images/episode_2113/0445.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug backwards, put the yellow marker inside the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug backwards, put the yellow marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.697, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.821, 0.833]). The trajectory involves 446 precise waypoints with total movement distance of 1.521." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2113", "trajectory_length": 446, "key_frame_indices": [ 0, 380, 445 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2113.json" } }, { "id": "droid_molmo_sam2_episode_45", "task": "Remove the marker the blue cup and place it on the apron", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_45/0000.jpg", "droid_molmo_sam2/images/episode_45/0159.jpg", "droid_molmo_sam2/images/episode_45/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker the blue cup and place it on the apron?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker the blue cup and place it on the apron, execute the following phases: 1) Initial approach phase (start at [0.601, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.610]). The trajectory involves 215 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_45", "trajectory_length": 215, "key_frame_indices": [ 0, 159, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_45.json" } }, { "id": "droid_molmo_sam2_episode_3687", "task": "Open the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3687/0000.jpg", "droid_molmo_sam2/images/episode_3687/0381.jpg", "droid_molmo_sam2/images/episode_3687/0423.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 [0.780, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.742]). The trajectory involves 424 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3687", "trajectory_length": 424, "key_frame_indices": [ 0, 381, 423 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3687.json" } }, { "id": "droid_molmo_sam2_episode_36746", "task": "Put the snack packet into the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36746/0000.jpg", "droid_molmo_sam2/images/episode_36746/0121.jpg", "droid_molmo_sam2/images/episode_36746/0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack packet into the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack packet into the sink, execute the following phases: 1) Initial approach phase (start at [0.374, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.943]). The trajectory involves 206 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36746", "trajectory_length": 206, "key_frame_indices": [ 0, 121, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36746.json" } }, { "id": "droid_molmo_sam2_episode_410", "task": "Take the snack pack out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_410/0000.jpg", "droid_molmo_sam2/images/episode_410/0117.jpg", "droid_molmo_sam2/images/episode_410/0189.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_molmo_sam2 manipulation: Take the snack pack out of the sink, execute the following phases: 1) Initial approach phase (start at [0.521, 0.941]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.789]). The trajectory involves 190 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_410", "trajectory_length": 190, "key_frame_indices": [ 0, 117, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_410.json" } }, { "id": "droid_molmo_sam2_episode_37360", "task": "Unfold the towel slightly on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37360/0000.jpg", "droid_molmo_sam2/images/episode_37360/0112.jpg", "droid_molmo_sam2/images/episode_37360/0574.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel slightly on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel slightly on the table, execute the following phases: 1) Initial approach phase (start at [0.458, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.626]). The trajectory involves 575 precise waypoints with total movement distance of 1.460." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37360", "trajectory_length": 575, "key_frame_indices": [ 0, 112, 574 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37360.json" } }, { "id": "droid_molmo_sam2_episode_35", "task": "Pour the contents of the orange cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35/0000.jpg", "droid_molmo_sam2/images/episode_35/0434.jpg", "droid_molmo_sam2/images/episode_35/0543.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the orange cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the orange cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.761, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.754, 0.745]). The trajectory involves 544 precise waypoints with total movement distance of 1.590." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35", "trajectory_length": 544, "key_frame_indices": [ 0, 434, 543 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35.json" } }, { "id": "droid_molmo_sam2_episode_858", "task": "Fold the towel on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_858/0000.jpg", "droid_molmo_sam2/images/episode_858/0198.jpg", "droid_molmo_sam2/images/episode_858/0228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel on the table., execute the following phases: 1) Initial approach phase (start at [0.548, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.777]). The trajectory involves 229 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_858", "trajectory_length": 229, "key_frame_indices": [ 0, 198, 228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_858.json" } }, { "id": "droid_molmo_sam2_episode_31764", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31764/0000.jpg", "droid_molmo_sam2/images/episode_31764/0099.jpg", "droid_molmo_sam2/images/episode_31764/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.424, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.704]). The trajectory involves 142 precise waypoints with total movement distance of 0.938." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31764", "trajectory_length": 142, "key_frame_indices": [ 0, 99, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31764.json" } }, { "id": "droid_molmo_sam2_episode_33572", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33572/0000.jpg", "droid_molmo_sam2/images/episode_33572/0099.jpg", "droid_molmo_sam2/images/episode_33572/0241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.781, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.537]). The trajectory involves 242 precise waypoints with total movement distance of 1.048." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33572", "trajectory_length": 242, "key_frame_indices": [ 0, 99, 241 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33572.json" } }, { "id": "droid_molmo_sam2_episode_6567", "task": "Pick the cup and move it to the right on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6567/0000.jpg", "droid_molmo_sam2/images/episode_6567/0063.jpg", "droid_molmo_sam2/images/episode_6567/0319.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cup and move it to the right on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the cup and move it to the right on the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.437]). The trajectory involves 320 precise waypoints with total movement distance of 9.146." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6567", "trajectory_length": 320, "key_frame_indices": [ 0, 63, 319 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6567.json" } }, { "id": "droid_molmo_sam2_episode_30359", "task": "Pick up the carrot plush toy from the stove and put it in the pot which is in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30359/0000.jpg", "droid_molmo_sam2/images/episode_30359/0142.jpg", "droid_molmo_sam2/images/episode_30359/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the carrot plush toy from the stove and put it in the pot which is in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the carrot plush toy from the stove and put it in the pot which is in the sink, execute the following phases: 1) Initial approach phase (start at [0.549, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.697]). The trajectory involves 157 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30359", "trajectory_length": 157, "key_frame_indices": [ 0, 142, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30359.json" } }, { "id": "droid_molmo_sam2_episode_36078", "task": "Take the pen out of the bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36078/0000.jpg", "droid_molmo_sam2/images/episode_36078/0066.jpg", "droid_molmo_sam2/images/episode_36078/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.488, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.476]). The trajectory involves 134 precise waypoints with total movement distance of 1.018." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36078", "trajectory_length": 134, "key_frame_indices": [ 0, 66, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36078.json" } }, { "id": "droid_molmo_sam2_episode_30708", "task": "Erase the writings on the board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30708/0000.jpg", "droid_molmo_sam2/images/episode_30708/0169.jpg", "droid_molmo_sam2/images/episode_30708/0353.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Erase the writings on the board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Erase the writings on the board, execute the following phases: 1) Initial approach phase (start at [0.828, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.446]). The trajectory involves 354 precise waypoints with total movement distance of 1.510." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30708", "trajectory_length": 354, "key_frame_indices": [ 0, 169, 353 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30708.json" } }, { "id": "droid_molmo_sam2_episode_33467", "task": "Hang the white cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33467/0000.jpg", "droid_molmo_sam2/images/episode_33467/0082.jpg", "droid_molmo_sam2/images/episode_33467/0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.610, 0.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.259]). The trajectory involves 248 precise waypoints with total movement distance of 1.013." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33467", "trajectory_length": 248, "key_frame_indices": [ 0, 82, 247 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33467.json" } }, { "id": "droid_molmo_sam2_episode_3614", "task": "Remove the brown object from the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3614/0000.jpg", "droid_molmo_sam2/images/episode_3614/0109.jpg", "droid_molmo_sam2/images/episode_3614/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the brown object from the pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the brown object from the pot, execute the following phases: 1) Initial approach phase (start at [0.603, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.491]). The trajectory involves 122 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3614", "trajectory_length": 122, "key_frame_indices": [ 0, 109, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3614.json" } }, { "id": "droid_molmo_sam2_episode_3210", "task": "Remove the green marker from the white bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3210/0000.jpg", "droid_molmo_sam2/images/episode_3210/0162.jpg", "droid_molmo_sam2/images/episode_3210/0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green marker from the white bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green marker from the white bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.393, 0.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.419]). The trajectory involves 227 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3210", "trajectory_length": 227, "key_frame_indices": [ 0, 162, 226 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3210.json" } }, { "id": "droid_molmo_sam2_episode_3137", "task": "Take the marker out of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3137/0000.jpg", "droid_molmo_sam2/images/episode_3137/0116.jpg", "droid_molmo_sam2/images/episode_3137/0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the cup, execute the following phases: 1) Initial approach phase (start at [0.449, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.511]). The trajectory involves 180 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3137", "trajectory_length": 180, "key_frame_indices": [ 0, 116, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3137.json" } }, { "id": "droid_molmo_sam2_episode_34095", "task": "Remove the can from the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34095/0000.jpg", "droid_molmo_sam2/images/episode_34095/0094.jpg", "droid_molmo_sam2/images/episode_34095/0183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the can from the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the can from the sink, execute the following phases: 1) Initial approach phase (start at [0.563, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.428, 0.778]). The trajectory involves 184 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34095", "trajectory_length": 184, "key_frame_indices": [ 0, 94, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34095.json" } }, { "id": "droid_molmo_sam2_episode_32723", "task": "Take the white and purple packet out of the wooden bowl and put it on the countertop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32723/0000.jpg", "droid_molmo_sam2/images/episode_32723/0118.jpg", "droid_molmo_sam2/images/episode_32723/0290.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the white and purple packet out of the wooden bowl and put it on the countertop.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the white and purple packet out of the wooden bowl and put it on the countertop., execute the following phases: 1) Initial approach phase (start at [0.425, 0.978]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.220, 0.370]). The trajectory involves 291 precise waypoints with total movement distance of 4.082." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32723", "trajectory_length": 291, "key_frame_indices": [ 0, 118, 290 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32723.json" } }, { "id": "droid_molmo_sam2_episode_32611", "task": "Move the ball", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32611/0000.jpg", "droid_molmo_sam2/images/episode_32611/0077.jpg", "droid_molmo_sam2/images/episode_32611/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball, execute the following phases: 1) Initial approach phase (start at [0.451, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.641]). The trajectory involves 121 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32611", "trajectory_length": 121, "key_frame_indices": [ 0, 77, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32611.json" } }, { "id": "droid_molmo_sam2_episode_3205", "task": "Put the white bottle on top of the silver flask", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3205/0000.jpg", "droid_molmo_sam2/images/episode_3205/0067.jpg", "droid_molmo_sam2/images/episode_3205/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white bottle on top of the silver flask?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white bottle on top of the silver flask, execute the following phases: 1) Initial approach phase (start at [0.507, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.669]). The trajectory involves 244 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3205", "trajectory_length": 244, "key_frame_indices": [ 0, 67, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3205.json" } }, { "id": "droid_molmo_sam2_episode_38924", "task": "Put the black marker inside the white and purple box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38924/0000.jpg", "droid_molmo_sam2/images/episode_38924/0176.jpg", "droid_molmo_sam2/images/episode_38924/0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker inside the white and purple box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black marker inside the white and purple box, execute the following phases: 1) Initial approach phase (start at [0.594, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.700]). The trajectory involves 189 precise waypoints with total movement distance of 0.446." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38924", "trajectory_length": 189, "key_frame_indices": [ 0, 176, 188 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38924.json" } }, { "id": "droid_molmo_sam2_episode_35686", "task": "Put the item of clothing on top of the washing machine on the left inside the machine.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35686/0000.jpg", "droid_molmo_sam2/images/episode_35686/0256.jpg", "droid_molmo_sam2/images/episode_35686/0451.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the item of clothing on top of the washing machine on the left inside the machine.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the item of clothing on top of the washing machine on the left inside the machine., execute the following phases: 1) Initial approach phase (start at [0.452, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.515]). The trajectory involves 452 precise waypoints with total movement distance of 1.686." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35686", "trajectory_length": 452, "key_frame_indices": [ 0, 256, 451 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35686.json" } }, { "id": "droid_molmo_sam2_episode_7072", "task": "Use the spatula to stir the potato fries in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7072/0000.jpg", "droid_molmo_sam2/images/episode_7072/0182.jpg", "droid_molmo_sam2/images/episode_7072/0468.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spatula to stir the potato fries in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the spatula to stir the potato fries in the bowl, execute the following phases: 1) Initial approach phase (start at [0.690, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.808]). The trajectory involves 469 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7072", "trajectory_length": 469, "key_frame_indices": [ 0, 182, 468 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7072.json" } }, { "id": "droid_molmo_sam2_episode_31419", "task": "Fold the cloth on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31419/0000.jpg", "droid_molmo_sam2/images/episode_31419/0181.jpg", "droid_molmo_sam2/images/episode_31419/0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table., execute the following phases: 1) Initial approach phase (start at [0.588, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.513]). The trajectory involves 385 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31419", "trajectory_length": 385, "key_frame_indices": [ 0, 181, 384 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31419.json" } }, { "id": "droid_molmo_sam2_episode_30134", "task": "Move the plastic cob of maize into the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30134/0000.jpg", "droid_molmo_sam2/images/episode_30134/0071.jpg", "droid_molmo_sam2/images/episode_30134/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plastic cob of maize into the white bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plastic cob of maize into the white bowl, execute the following phases: 1) Initial approach phase (start at [0.584, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.483]). The trajectory involves 107 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30134", "trajectory_length": 107, "key_frame_indices": [ 0, 71, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30134.json" } }, { "id": "droid_molmo_sam2_episode_4180", "task": "Close the door shut", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4180/0000.jpg", "droid_molmo_sam2/images/episode_4180/0081.jpg", "droid_molmo_sam2/images/episode_4180/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door shut?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door shut, execute the following phases: 1) Initial approach phase (start at [0.599, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.581]). The trajectory involves 122 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4180", "trajectory_length": 122, "key_frame_indices": [ 0, 81, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4180.json" } }, { "id": "droid_molmo_sam2_episode_37955", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37955/0000.jpg", "droid_molmo_sam2/images/episode_37955/0130.jpg", "droid_molmo_sam2/images/episode_37955/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.660, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.615, 0.337]). The trajectory involves 194 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37955", "trajectory_length": 194, "key_frame_indices": [ 0, 130, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37955.json" } }, { "id": "droid_molmo_sam2_episode_30027", "task": "Move the cloth to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30027/0000.jpg", "droid_molmo_sam2/images/episode_30027/0097.jpg", "droid_molmo_sam2/images/episode_30027/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cloth to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cloth to the right, execute the following phases: 1) Initial approach phase (start at [0.496, 0.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.575, 0.729]). The trajectory involves 112 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30027", "trajectory_length": 112, "key_frame_indices": [ 0, 97, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30027.json" } }, { "id": "droid_molmo_sam2_episode_34133", "task": "Slide the mug backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34133/0000.jpg", "droid_molmo_sam2/images/episode_34133/0196.jpg", "droid_molmo_sam2/images/episode_34133/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the mug backwards, execute the following phases: 1) Initial approach phase (start at [0.622, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.670, 0.666]). The trajectory involves 212 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34133", "trajectory_length": 212, "key_frame_indices": [ 0, 196, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34133.json" } }, { "id": "droid_molmo_sam2_episode_34439", "task": "Unstack the silver pots.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34439/0000.jpg", "droid_molmo_sam2/images/episode_34439/0452.jpg", "droid_molmo_sam2/images/episode_34439/0859.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the silver pots.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unstack the silver pots., execute the following phases: 1) Initial approach phase (start at [0.704, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.620]). The trajectory involves 860 precise waypoints with total movement distance of 1.762." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34439", "trajectory_length": 860, "key_frame_indices": [ 0, 452, 859 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34439.json" } }, { "id": "droid_molmo_sam2_episode_35618", "task": "Hang the cloth on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35618/0000.jpg", "droid_molmo_sam2/images/episode_35618/0087.jpg", "droid_molmo_sam2/images/episode_35618/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.513, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.283]). The trajectory involves 143 precise waypoints with total movement distance of 0.624." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35618", "trajectory_length": 143, "key_frame_indices": [ 0, 87, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35618.json" } }, { "id": "droid_molmo_sam2_episode_2150", "task": "Put the white and orange packet upright", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2150/0000.jpg", "droid_molmo_sam2/images/episode_2150/0089.jpg", "droid_molmo_sam2/images/episode_2150/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white and orange packet upright?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white and orange packet upright, execute the following phases: 1) Initial approach phase (start at [0.451, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.612]). The trajectory involves 237 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2150", "trajectory_length": 237, "key_frame_indices": [ 0, 89, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2150.json" } }, { "id": "droid_molmo_sam2_episode_35728", "task": "Put the white mug on top of the dark green mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35728/0000.jpg", "droid_molmo_sam2/images/episode_35728/0197.jpg", "droid_molmo_sam2/images/episode_35728/0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white mug on top of the dark green mug.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white mug on top of the dark green mug., execute the following phases: 1) Initial approach phase (start at [0.525, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.577]). The trajectory involves 433 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35728", "trajectory_length": 433, "key_frame_indices": [ 0, 197, 432 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35728.json" } }, { "id": "droid_molmo_sam2_episode_33725", "task": "Pick up the cup from the top of the cabinet and put it on the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33725/0000.jpg", "droid_molmo_sam2/images/episode_33725/0163.jpg", "droid_molmo_sam2/images/episode_33725/0363.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup from the top of the cabinet and put it on the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cup from the top of the cabinet and put it on the cabinet, execute the following phases: 1) Initial approach phase (start at [0.218, 0.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.496]). The trajectory involves 364 precise waypoints with total movement distance of 1.374." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33725", "trajectory_length": 364, "key_frame_indices": [ 0, 163, 363 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33725.json" } }, { "id": "droid_molmo_sam2_episode_6054", "task": "Replace the tissue paper core with the paper towel roll", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6054/0000.jpg", "droid_molmo_sam2/images/episode_6054/0395.jpg", "droid_molmo_sam2/images/episode_6054/0580.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Replace the tissue paper core with the paper towel roll?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Replace the tissue paper core with the paper towel roll, execute the following phases: 1) Initial approach phase (start at [0.560, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.715]). The trajectory involves 581 precise waypoints with total movement distance of 1.188." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6054", "trajectory_length": 581, "key_frame_indices": [ 0, 395, 580 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6054.json" } }, { "id": "droid_molmo_sam2_episode_38173", "task": "Pick up the can of fanta and place on the bottom drawer of the cabinet above", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38173/0000.jpg", "droid_molmo_sam2/images/episode_38173/0132.jpg", "droid_molmo_sam2/images/episode_38173/0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the can of fanta and place on the bottom drawer of the cabinet above?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the can of fanta and place on the bottom drawer of the cabinet above, execute the following phases: 1) Initial approach phase (start at [0.377, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.107]). The trajectory involves 234 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38173", "trajectory_length": 234, "key_frame_indices": [ 0, 132, 233 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38173.json" } }, { "id": "droid_molmo_sam2_episode_35025", "task": "Place the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35025/0000.jpg", "droid_molmo_sam2/images/episode_35025/0125.jpg", "droid_molmo_sam2/images/episode_35025/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.558, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.255]). The trajectory involves 283 precise waypoints with total movement distance of 2.324." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35025", "trajectory_length": 283, "key_frame_indices": [ 0, 125, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35025.json" } }, { "id": "droid_molmo_sam2_episode_2703", "task": "Cover the pot with the lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2703/0000.jpg", "droid_molmo_sam2/images/episode_2703/0150.jpg", "droid_molmo_sam2/images/episode_2703/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the pot with the lid?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Cover the pot with the lid, execute the following phases: 1) Initial approach phase (start at [0.366, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.486]). The trajectory involves 197 precise waypoints with total movement distance of 1.457." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2703", "trajectory_length": 197, "key_frame_indices": [ 0, 150, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2703.json" } }, { "id": "droid_molmo_sam2_episode_3615", "task": "Move the grey faucet to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3615/0000.jpg", "droid_molmo_sam2/images/episode_3615/0146.jpg", "droid_molmo_sam2/images/episode_3615/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey faucet to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey faucet to the right, execute the following phases: 1) Initial approach phase (start at [0.587, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.415]). The trajectory involves 158 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3615", "trajectory_length": 158, "key_frame_indices": [ 0, 146, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3615.json" } }, { "id": "droid_molmo_sam2_episode_7173", "task": "Move the white mug to the right white mat", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7173/0000.jpg", "droid_molmo_sam2/images/episode_7173/0126.jpg", "droid_molmo_sam2/images/episode_7173/0171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug to the right white mat?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug to the right white mat, execute the following phases: 1) Initial approach phase (start at [0.743, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.825, 0.708]). The trajectory involves 172 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7173", "trajectory_length": 172, "key_frame_indices": [ 0, 126, 171 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7173.json" } }, { "id": "droid_molmo_sam2_episode_6812", "task": "Push down the switch on the toaster", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6812/0000.jpg", "droid_molmo_sam2/images/episode_6812/0054.jpg", "droid_molmo_sam2/images/episode_6812/0078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the switch on the toaster?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the switch on the toaster, execute the following phases: 1) Initial approach phase (start at [0.449, 0.727]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.727]). The trajectory involves 79 precise waypoints with total movement distance of 0.053." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6812", "trajectory_length": 79, "key_frame_indices": [ 0, 54, 78 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6812.json" } }, { "id": "droid_molmo_sam2_episode_3228", "task": "Get the marker from the gray bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3228/0000.jpg", "droid_molmo_sam2/images/episode_3228/0047.jpg", "droid_molmo_sam2/images/episode_3228/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the gray bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the marker from the gray bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.515, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.525]). The trajectory involves 171 precise waypoints with total movement distance of 0.716." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3228", "trajectory_length": 171, "key_frame_indices": [ 0, 47, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3228.json" } }, { "id": "droid_molmo_sam2_episode_378", "task": "Put the bottle in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_378/0000.jpg", "droid_molmo_sam2/images/episode_378/0169.jpg", "droid_molmo_sam2/images/episode_378/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the bottle in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the bottle in the box, execute the following phases: 1) Initial approach phase (start at [0.468, 0.960]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 183 precise waypoints with total movement distance of 1.551." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_378", "trajectory_length": 183, "key_frame_indices": [ 0, 169, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_378.json" } }, { "id": "droid_molmo_sam2_episode_2361", "task": "Fold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2361/0000.jpg", "droid_molmo_sam2/images/episode_2361/0231.jpg", "droid_molmo_sam2/images/episode_2361/0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.527, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.859]). The trajectory involves 298 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2361", "trajectory_length": 298, "key_frame_indices": [ 0, 231, 297 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2361.json" } }, { "id": "droid_molmo_sam2_episode_2023", "task": "Pour the contents of the blue cup into the silver pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2023/0000.jpg", "droid_molmo_sam2/images/episode_2023/0338.jpg", "droid_molmo_sam2/images/episode_2023/0377.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the blue cup into the silver pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the blue cup into the silver pot, execute the following phases: 1) Initial approach phase (start at [0.576, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.505]). The trajectory involves 378 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2023", "trajectory_length": 378, "key_frame_indices": [ 0, 338, 377 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2023.json" } }, { "id": "droid_molmo_sam2_episode_3660", "task": "Lift the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3660/0000.jpg", "droid_molmo_sam2/images/episode_3660/0239.jpg", "droid_molmo_sam2/images/episode_3660/0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Lift the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Lift the cup, execute the following phases: 1) Initial approach phase (start at [0.574, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.590]). The trajectory involves 306 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3660", "trajectory_length": 306, "key_frame_indices": [ 0, 239, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3660.json" } }, { "id": "droid_molmo_sam2_episode_4031", "task": "Close the curtain.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4031/0000.jpg", "droid_molmo_sam2/images/episode_4031/0376.jpg", "droid_molmo_sam2/images/episode_4031/0386.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the curtain.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the curtain., execute the following phases: 1) Initial approach phase (start at [0.316, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.112, 0.598]). The trajectory involves 387 precise waypoints with total movement distance of 4.240." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4031", "trajectory_length": 387, "key_frame_indices": [ 0, 376, 386 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4031.json" } }, { "id": "droid_molmo_sam2_episode_7205", "task": "Remove the black t-shirt from the backrest of the grey chair and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7205/0000.jpg", "droid_molmo_sam2/images/episode_7205/0074.jpg", "droid_molmo_sam2/images/episode_7205/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the black t-shirt from the backrest of the grey chair and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black t-shirt from the backrest of the grey chair and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.683, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.474]). The trajectory involves 143 precise waypoints with total movement distance of 0.874." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7205", "trajectory_length": 143, "key_frame_indices": [ 0, 74, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7205.json" } }, { "id": "droid_molmo_sam2_episode_33910", "task": "Put the white pen in the green bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33910/0000.jpg", "droid_molmo_sam2/images/episode_33910/0134.jpg", "droid_molmo_sam2/images/episode_33910/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white pen in the green bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white pen in the green bowl, execute the following phases: 1) Initial approach phase (start at [0.653, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 136 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33910", "trajectory_length": 136, "key_frame_indices": [ 0, 134, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33910.json" } }, { "id": "droid_molmo_sam2_episode_3850", "task": "Unfold the white and red towel and lay it out.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3850/0000.jpg", "droid_molmo_sam2/images/episode_3850/0631.jpg", "droid_molmo_sam2/images/episode_3850/0657.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white and red towel and lay it out.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the white and red towel and lay it out., execute the following phases: 1) Initial approach phase (start at [0.540, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.834]). The trajectory involves 658 precise waypoints with total movement distance of 1.566." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3850", "trajectory_length": 658, "key_frame_indices": [ 0, 631, 657 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3850.json" } }, { "id": "droid_molmo_sam2_episode_35220", "task": "Remove the purple plushy from the plate and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35220/0000.jpg", "droid_molmo_sam2/images/episode_35220/0135.jpg", "droid_molmo_sam2/images/episode_35220/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple plushy from the plate and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple plushy from the plate and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.503, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.713]). The trajectory involves 176 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35220", "trajectory_length": 176, "key_frame_indices": [ 0, 135, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35220.json" } }, { "id": "droid_molmo_sam2_episode_30011", "task": "Pick up the yellow block and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30011/0000.jpg", "droid_molmo_sam2/images/episode_30011/0079.jpg", "droid_molmo_sam2/images/episode_30011/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow block and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow block and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.547, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.506]). The trajectory involves 132 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30011", "trajectory_length": 132, "key_frame_indices": [ 0, 79, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30011.json" } }, { "id": "droid_molmo_sam2_episode_4140", "task": "Put the pen inside the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4140/0000.jpg", "droid_molmo_sam2/images/episode_4140/0212.jpg", "droid_molmo_sam2/images/episode_4140/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen inside the cup, execute the following phases: 1) Initial approach phase (start at [0.612, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 0.228]). The trajectory involves 263 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4140", "trajectory_length": 263, "key_frame_indices": [ 0, 212, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4140.json" } }, { "id": "droid_molmo_sam2_episode_36480", "task": "change the position of the cups on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36480/0000.jpg", "droid_molmo_sam2/images/episode_36480/0126.jpg", "droid_molmo_sam2/images/episode_36480/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: change the position of the cups on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: change the position of the cups on the counter, execute the following phases: 1) Initial approach phase (start at [0.267, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.437]). The trajectory involves 194 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36480", "trajectory_length": 194, "key_frame_indices": [ 0, 126, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36480.json" } }, { "id": "droid_molmo_sam2_episode_7175", "task": "Move the mouse slightly backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7175/0000.jpg", "droid_molmo_sam2/images/episode_7175/0059.jpg", "droid_molmo_sam2/images/episode_7175/0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mouse slightly backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mouse slightly backwards, execute the following phases: 1) Initial approach phase (start at [0.648, 0.851]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.618, 0.841]). The trajectory involves 93 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7175", "trajectory_length": 93, "key_frame_indices": [ 0, 59, 92 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7175.json" } }, { "id": "droid_molmo_sam2_episode_37188", "task": "Put the Rubik's cube in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37188/0000.jpg", "droid_molmo_sam2/images/episode_37188/0139.jpg", "droid_molmo_sam2/images/episode_37188/0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the Rubik's cube in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the Rubik's cube in the bowl, execute the following phases: 1) Initial approach phase (start at [0.554, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.539]). The trajectory involves 257 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37188", "trajectory_length": 257, "key_frame_indices": [ 0, 139, 256 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37188.json" } }, { "id": "droid_molmo_sam2_episode_4530", "task": "Pick up the white bottle and put it on the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4530/0000.jpg", "droid_molmo_sam2/images/episode_4530/0169.jpg", "droid_molmo_sam2/images/episode_4530/0240.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?" }, { "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, execute the following phases: 1) Initial approach phase (start at [0.386, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.630]). The trajectory involves 241 precise waypoints with total movement distance of 0.934." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4530", "trajectory_length": 241, "key_frame_indices": [ 0, 169, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4530.json" } }, { "id": "droid_molmo_sam2_episode_36998", "task": "Unfold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36998/0000.jpg", "droid_molmo_sam2/images/episode_36998/0167.jpg", "droid_molmo_sam2/images/episode_36998/0374.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth, execute the following phases: 1) Initial approach phase (start at [0.457, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.681]). The trajectory involves 375 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36998", "trajectory_length": 375, "key_frame_indices": [ 0, 167, 374 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36998.json" } }, { "id": "droid_molmo_sam2_episode_7435", "task": "Close the kettle lid.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7435/0000.jpg", "droid_molmo_sam2/images/episode_7435/0199.jpg", "droid_molmo_sam2/images/episode_7435/0295.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the kettle lid.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the kettle lid., execute the following phases: 1) Initial approach phase (start at [0.646, 0.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.633, 0.285]). The trajectory involves 296 precise waypoints with total movement distance of 0.645." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7435", "trajectory_length": 296, "key_frame_indices": [ 0, 199, 295 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7435.json" } }, { "id": "droid_molmo_sam2_episode_6498", "task": "Hang the cloth on the tablet stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6498/0000.jpg", "droid_molmo_sam2/images/episode_6498/0140.jpg", "droid_molmo_sam2/images/episode_6498/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the tablet stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the tablet stand, execute the following phases: 1) Initial approach phase (start at [0.376, 0.873]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.575]). The trajectory involves 149 precise waypoints with total movement distance of 1.011." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6498", "trajectory_length": 149, "key_frame_indices": [ 0, 140, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6498.json" } }, { "id": "droid_molmo_sam2_episode_3161", "task": "Move the green block to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3161/0000.jpg", "droid_molmo_sam2/images/episode_3161/0046.jpg", "droid_molmo_sam2/images/episode_3161/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green block to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green block to the left, execute the following phases: 1) Initial approach phase (start at [0.612, 0.423]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.652, 0.391]). The trajectory involves 88 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3161", "trajectory_length": 88, "key_frame_indices": [ 0, 46, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3161.json" } }, { "id": "droid_molmo_sam2_episode_3803", "task": "Remove the orange from the basket and place it inside the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3803/0000.jpg", "droid_molmo_sam2/images/episode_3803/0074.jpg", "droid_molmo_sam2/images/episode_3803/0365.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange from the basket and place it inside the orange cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the orange from the basket and place it inside the orange cup, execute the following phases: 1) Initial approach phase (start at [0.656, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.681]). The trajectory involves 366 precise waypoints with total movement distance of 0.874." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3803", "trajectory_length": 366, "key_frame_indices": [ 0, 74, 365 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3803.json" } }, { "id": "droid_molmo_sam2_episode_30386", "task": "Remove the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30386/0000.jpg", "droid_molmo_sam2/images/episode_30386/0095.jpg", "droid_molmo_sam2/images/episode_30386/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker out of the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.574, 0.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.498]). The trajectory involves 123 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30386", "trajectory_length": 123, "key_frame_indices": [ 0, 95, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30386.json" } }, { "id": "droid_molmo_sam2_episode_39351", "task": "Push the faucet to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39351/0000.jpg", "droid_molmo_sam2/images/episode_39351/0117.jpg", "droid_molmo_sam2/images/episode_39351/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet to the left?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet to the left, execute the following phases: 1) Initial approach phase (start at [0.505, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.452]). The trajectory involves 121 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39351", "trajectory_length": 121, "key_frame_indices": [ 0, 117, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39351.json" } }, { "id": "droid_molmo_sam2_episode_30666", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30666/0000.jpg", "droid_molmo_sam2/images/episode_30666/0102.jpg", "droid_molmo_sam2/images/episode_30666/0129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.454, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.429]). The trajectory involves 130 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30666", "trajectory_length": 130, "key_frame_indices": [ 0, 102, 129 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30666.json" } }, { "id": "droid_molmo_sam2_episode_33294", "task": "Pick up the lid on the black pot and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33294/0000.jpg", "droid_molmo_sam2/images/episode_33294/0091.jpg", "droid_molmo_sam2/images/episode_33294/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid on the black pot and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid on the black pot and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.554, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.438]). The trajectory involves 203 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33294", "trajectory_length": 203, "key_frame_indices": [ 0, 91, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33294.json" } }, { "id": "droid_molmo_sam2_episode_3734", "task": "Put the can on the metal item", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3734/0000.jpg", "droid_molmo_sam2/images/episode_3734/0106.jpg", "droid_molmo_sam2/images/episode_3734/0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can on the metal item?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can on the metal item, execute the following phases: 1) Initial approach phase (start at [0.537, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.778]). The trajectory involves 204 precise waypoints with total movement distance of 0.618." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3734", "trajectory_length": 204, "key_frame_indices": [ 0, 106, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3734.json" } }, { "id": "droid_molmo_sam2_episode_30256", "task": "Move the caps to the left side of the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30256/0000.jpg", "droid_molmo_sam2/images/episode_30256/0371.jpg", "droid_molmo_sam2/images/episode_30256/0414.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the caps to the left side of the bed?" }, { "from": "gpt", "value": "To complete this repositioning: Move the caps to the left side of the bed, execute the following phases: 1) Initial approach phase (start at [0.440, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.262, 0.910]). The trajectory involves 415 precise waypoints with total movement distance of 3.166." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30256", "trajectory_length": 415, "key_frame_indices": [ 0, 371, 414 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30256.json" } }, { "id": "droid_molmo_sam2_episode_30600", "task": "Close the lid of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30600/0000.jpg", "droid_molmo_sam2/images/episode_30600/0076.jpg", "droid_molmo_sam2/images/episode_30600/0117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the cup?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the cup, execute the following phases: 1) Initial approach phase (start at [0.824, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.826, 0.662]). The trajectory involves 118 precise waypoints with total movement distance of 0.072." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30600", "trajectory_length": 118, "key_frame_indices": [ 0, 76, 117 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30600.json" } }, { "id": "droid_molmo_sam2_episode_6825", "task": "Pick up the medicine bottle and move it forward.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6825/0000.jpg", "droid_molmo_sam2/images/episode_6825/0064.jpg", "droid_molmo_sam2/images/episode_6825/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the medicine bottle and move it forward.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the medicine bottle and move it forward., execute the following phases: 1) Initial approach phase (start at [0.752, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.413]). The trajectory involves 119 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6825", "trajectory_length": 119, "key_frame_indices": [ 0, 64, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6825.json" } }, { "id": "droid_molmo_sam2_episode_32913", "task": "Close the lid of the pink container.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32913/0000.jpg", "droid_molmo_sam2/images/episode_32913/0172.jpg", "droid_molmo_sam2/images/episode_32913/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the pink container.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the pink container., execute the following phases: 1) Initial approach phase (start at [0.700, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.522]). The trajectory involves 203 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32913", "trajectory_length": 203, "key_frame_indices": [ 0, 172, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32913.json" } }, { "id": "droid_molmo_sam2_episode_3101", "task": "Fold the sunglasses.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3101/0000.jpg", "droid_molmo_sam2/images/episode_3101/0221.jpg", "droid_molmo_sam2/images/episode_3101/0494.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the sunglasses.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the sunglasses., execute the following phases: 1) Initial approach phase (start at [0.577, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.525]). The trajectory involves 495 precise waypoints with total movement distance of 0.679." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3101", "trajectory_length": 495, "key_frame_indices": [ 0, 221, 494 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3101.json" } }, { "id": "droid_molmo_sam2_episode_3002", "task": "Put the blue toy in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3002/0000.jpg", "droid_molmo_sam2/images/episode_3002/0118.jpg", "droid_molmo_sam2/images/episode_3002/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue toy in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue toy in the sink, execute the following phases: 1) Initial approach phase (start at [0.501, 0.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.422]). The trajectory involves 128 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3002", "trajectory_length": 128, "key_frame_indices": [ 0, 118, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3002.json" } }, { "id": "droid_molmo_sam2_episode_6295", "task": "Remove the snacks from the orange packet and put them in the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6295/0000.jpg", "droid_molmo_sam2/images/episode_6295/0164.jpg", "droid_molmo_sam2/images/episode_6295/0284.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 [0.505, 0.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.627]). The trajectory involves 285 precise waypoints with total movement distance of 0.948." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6295", "trajectory_length": 285, "key_frame_indices": [ 0, 164, 284 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6295.json" } }, { "id": "droid_molmo_sam2_episode_32458", "task": "Fold the cloth in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32458/0000.jpg", "droid_molmo_sam2/images/episode_32458/0183.jpg", "droid_molmo_sam2/images/episode_32458/0311.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth in half, execute the following phases: 1) Initial approach phase (start at [0.612, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.477]). The trajectory involves 312 precise waypoints with total movement distance of 1.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32458", "trajectory_length": 312, "key_frame_indices": [ 0, 183, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32458.json" } }, { "id": "droid_molmo_sam2_episode_1424", "task": "Place the white lid on top of the clear food container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1424/0000.jpg", "droid_molmo_sam2/images/episode_1424/0202.jpg", "droid_molmo_sam2/images/episode_1424/0417.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the clear food container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white lid on top of the clear food container, execute the following phases: 1) Initial approach phase (start at [0.674, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.396]). The trajectory involves 418 precise waypoints with total movement distance of 0.959." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1424", "trajectory_length": 418, "key_frame_indices": [ 0, 202, 417 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1424.json" } }, { "id": "droid_molmo_sam2_episode_3587", "task": "Move the blue bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3587/0000.jpg", "droid_molmo_sam2/images/episode_3587/0178.jpg", "droid_molmo_sam2/images/episode_3587/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.321, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.653]). The trajectory involves 198 precise waypoints with total movement distance of 1.105." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3587", "trajectory_length": 198, "key_frame_indices": [ 0, 178, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3587.json" } }, { "id": "droid_molmo_sam2_episode_38178", "task": "Take a tissue out of the box and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38178/0000.jpg", "droid_molmo_sam2/images/episode_38178/0392.jpg", "droid_molmo_sam2/images/episode_38178/0396.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take a tissue out of the box and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take a tissue out of the box and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.307, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.924]). The trajectory involves 397 precise waypoints with total movement distance of 2.694." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38178", "trajectory_length": 397, "key_frame_indices": [ 0, 392, 396 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38178.json" } }, { "id": "droid_molmo_sam2_episode_3717", "task": "Pick up the orange piece of clothing from the top right drawer and set it on the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3717/0000.jpg", "droid_molmo_sam2/images/episode_3717/0091.jpg", "droid_molmo_sam2/images/episode_3717/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange piece of clothing from the top right drawer and set it on the bed?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the orange piece of clothing from the top right drawer and set it on the bed, execute the following phases: 1) Initial approach phase (start at [0.577, 0.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.161]). The trajectory involves 337 precise waypoints with total movement distance of 1.183." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3717", "trajectory_length": 337, "key_frame_indices": [ 0, 91, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3717.json" } }, { "id": "droid_molmo_sam2_episode_32836", "task": "Move the mug slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32836/0000.jpg", "droid_molmo_sam2/images/episode_32836/0198.jpg", "droid_molmo_sam2/images/episode_32836/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.416, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.388]). The trajectory involves 271 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32836", "trajectory_length": 271, "key_frame_indices": [ 0, 198, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32836.json" } }, { "id": "droid_molmo_sam2_episode_3185", "task": "Open the laptop and switch it on", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3185/0000.jpg", "droid_molmo_sam2/images/episode_3185/0074.jpg", "droid_molmo_sam2/images/episode_3185/0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the laptop and switch it on?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the laptop and switch it on, execute the following phases: 1) Initial approach phase (start at [0.372, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 0.554]). The trajectory involves 161 precise waypoints with total movement distance of 0.887." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3185", "trajectory_length": 161, "key_frame_indices": [ 0, 74, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3185.json" } }, { "id": "droid_molmo_sam2_episode_32097", "task": "Pick the bottle and move it up the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32097/0000.jpg", "droid_molmo_sam2/images/episode_32097/0104.jpg", "droid_molmo_sam2/images/episode_32097/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle and move it up the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the bottle and move it up the table, execute the following phases: 1) Initial approach phase (start at [0.680, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.505]). The trajectory involves 116 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32097", "trajectory_length": 116, "key_frame_indices": [ 0, 104, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32097.json" } }, { "id": "droid_molmo_sam2_episode_7387", "task": "Put the orange plastic cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7387/0000.jpg", "droid_molmo_sam2/images/episode_7387/0065.jpg", "droid_molmo_sam2/images/episode_7387/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange plastic cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange plastic cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.476, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.541]). The trajectory involves 113 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7387", "trajectory_length": 113, "key_frame_indices": [ 0, 65, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7387.json" } }, { "id": "droid_molmo_sam2_episode_4385", "task": "Place the pink fleece blanket on the clear storage bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4385/0000.jpg", "droid_molmo_sam2/images/episode_4385/0185.jpg", "droid_molmo_sam2/images/episode_4385/0789.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_molmo_sam2 manipulation: Place the pink fleece blanket on the clear storage bin, execute the following phases: 1) Initial approach phase (start at [0.412, 0.693]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.642, 0.701]). The trajectory involves 790 precise waypoints with total movement distance of 2.440." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4385", "trajectory_length": 790, "key_frame_indices": [ 0, 185, 789 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4385.json" } }, { "id": "droid_molmo_sam2_episode_6503", "task": "Put the red lid on the clear bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6503/0000.jpg", "droid_molmo_sam2/images/episode_6503/0211.jpg", "droid_molmo_sam2/images/episode_6503/0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red lid on the clear bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red lid on the clear bowl, execute the following phases: 1) Initial approach phase (start at [0.750, 0.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.755, 0.325]). The trajectory involves 232 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6503", "trajectory_length": 232, "key_frame_indices": [ 0, 211, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6503.json" } }, { "id": "droid_molmo_sam2_episode_350", "task": "Put the marker into the white cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_350/0000.jpg", "droid_molmo_sam2/images/episode_350/0071.jpg", "droid_molmo_sam2/images/episode_350/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the white cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the white cup, execute the following phases: 1) Initial approach phase (start at [0.531, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.572]). The trajectory involves 123 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_350", "trajectory_length": 123, "key_frame_indices": [ 0, 71, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_350.json" } }, { "id": "droid_molmo_sam2_episode_39470", "task": "Open the door.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39470/0000.jpg", "droid_molmo_sam2/images/episode_39470/0074.jpg", "droid_molmo_sam2/images/episode_39470/0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the door.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the door., execute the following phases: 1) Initial approach phase (start at [0.649, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.497]). The trajectory involves 327 precise waypoints with total movement distance of 0.399." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39470", "trajectory_length": 327, "key_frame_indices": [ 0, 74, 326 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39470.json" } }, { "id": "droid_molmo_sam2_episode_38106", "task": "Move the yellow mug backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38106/0000.jpg", "droid_molmo_sam2/images/episode_38106/0140.jpg", "droid_molmo_sam2/images/episode_38106/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug backwards, execute the following phases: 1) Initial approach phase (start at [0.527, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.386]). The trajectory involves 194 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38106", "trajectory_length": 194, "key_frame_indices": [ 0, 140, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38106.json" } }, { "id": "droid_molmo_sam2_episode_35751", "task": "Place the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35751/0000.jpg", "droid_molmo_sam2/images/episode_35751/0061.jpg", "droid_molmo_sam2/images/episode_35751/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.491, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.345]). The trajectory involves 128 precise waypoints with total movement distance of 0.918." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35751", "trajectory_length": 128, "key_frame_indices": [ 0, 61, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35751.json" } }, { "id": "droid_molmo_sam2_episode_31130", "task": "Pick up the pen from the countertop and put it in the cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31130/0000.jpg", "droid_molmo_sam2/images/episode_31130/0104.jpg", "droid_molmo_sam2/images/episode_31130/0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the countertop and put it in the cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the countertop and put it in the cup., execute the following phases: 1) Initial approach phase (start at [0.667, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.402]). The trajectory involves 187 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31130", "trajectory_length": 187, "key_frame_indices": [ 0, 104, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31130.json" } }, { "id": "droid_molmo_sam2_episode_34799", "task": "Move the green cloth to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34799/0000.jpg", "droid_molmo_sam2/images/episode_34799/0057.jpg", "droid_molmo_sam2/images/episode_34799/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green cloth to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green cloth to the left, execute the following phases: 1) Initial approach phase (start at [0.474, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.391]). The trajectory involves 88 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34799", "trajectory_length": 88, "key_frame_indices": [ 0, 57, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34799.json" } }, { "id": "droid_molmo_sam2_episode_36200", "task": "Put the marker into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36200/0000.jpg", "droid_molmo_sam2/images/episode_36200/0142.jpg", "droid_molmo_sam2/images/episode_36200/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the bowl, execute the following phases: 1) Initial approach phase (start at [0.441, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.683]). The trajectory involves 157 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36200", "trajectory_length": 157, "key_frame_indices": [ 0, 142, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36200.json" } }, { "id": "droid_molmo_sam2_episode_2268", "task": "Move the yellow basket forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2268/0000.jpg", "droid_molmo_sam2/images/episode_2268/0180.jpg", "droid_molmo_sam2/images/episode_2268/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow basket forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow basket forward, execute the following phases: 1) Initial approach phase (start at [0.547, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.442]). The trajectory involves 258 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2268", "trajectory_length": 258, "key_frame_indices": [ 0, 180, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2268.json" } }, { "id": "droid_molmo_sam2_episode_3009", "task": "Pick up the shaving stick from the hand washing basin and place it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3009/0000.jpg", "droid_molmo_sam2/images/episode_3009/0227.jpg", "droid_molmo_sam2/images/episode_3009/0377.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the shaving stick from the hand washing basin and place it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the shaving stick from the hand washing basin and place it on the counter, execute the following phases: 1) Initial approach phase (start at [0.536, 0.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.400]). The trajectory involves 378 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3009", "trajectory_length": 378, "key_frame_indices": [ 0, 227, 377 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3009.json" } }, { "id": "droid_molmo_sam2_episode_38529", "task": "Place the red marker in the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38529/0000.jpg", "droid_molmo_sam2/images/episode_38529/0185.jpg", "droid_molmo_sam2/images/episode_38529/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the red marker in the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the red marker in the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.732, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.350]). The trajectory involves 213 precise waypoints with total movement distance of 1.164." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38529", "trajectory_length": 213, "key_frame_indices": [ 0, 185, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38529.json" } }, { "id": "droid_molmo_sam2_episode_6648", "task": "Close then open the door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6648/0000.jpg", "droid_molmo_sam2/images/episode_6648/0217.jpg", "droid_molmo_sam2/images/episode_6648/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close then open the door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close then open the door, execute the following phases: 1) Initial approach phase (start at [0.625, 0.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.320]). The trajectory involves 224 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6648", "trajectory_length": 224, "key_frame_indices": [ 0, 217, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6648.json" } }, { "id": "droid_molmo_sam2_episode_35004", "task": "Slide the orange towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35004/0000.jpg", "droid_molmo_sam2/images/episode_35004/0058.jpg", "droid_molmo_sam2/images/episode_35004/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the orange towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the orange towel to the left, execute the following phases: 1) Initial approach phase (start at [0.495, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.386]). The trajectory involves 86 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35004", "trajectory_length": 86, "key_frame_indices": [ 0, 58, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35004.json" } }, { "id": "droid_molmo_sam2_episode_39804", "task": "Use the towel on the center to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39804/0000.jpg", "droid_molmo_sam2/images/episode_39804/0105.jpg", "droid_molmo_sam2/images/episode_39804/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel on the center to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel on the center to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.505, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.623]). The trajectory involves 263 precise waypoints with total movement distance of 1.994." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39804", "trajectory_length": 263, "key_frame_indices": [ 0, 105, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39804.json" } }, { "id": "droid_molmo_sam2_episode_2718", "task": "Remove the green block from the top of the stack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2718/0000.jpg", "droid_molmo_sam2/images/episode_2718/0099.jpg", "droid_molmo_sam2/images/episode_2718/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green block from the top of the stack?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green block from the top of the stack, execute the following phases: 1) Initial approach phase (start at [0.340, 0.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.432]). The trajectory involves 135 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2718", "trajectory_length": 135, "key_frame_indices": [ 0, 99, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2718.json" } }, { "id": "droid_molmo_sam2_episode_6156", "task": "Put the silver object in the blue cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6156/0000.jpg", "droid_molmo_sam2/images/episode_6156/0108.jpg", "droid_molmo_sam2/images/episode_6156/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver object in the blue cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the silver object in the blue cup, execute the following phases: 1) Initial approach phase (start at [0.571, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.608]). The trajectory involves 124 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6156", "trajectory_length": 124, "key_frame_indices": [ 0, 108, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6156.json" } }, { "id": "droid_molmo_sam2_episode_6499", "task": "Pick up the plastic and the white object from the counter and put them in the open drawer and close it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6499/0000.jpg", "droid_molmo_sam2/images/episode_6499/0259.jpg", "droid_molmo_sam2/images/episode_6499/0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the plastic and the white object from the counter and put them in the open drawer and close it?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the plastic and the white object from the counter and put them in the open drawer and close it, execute the following phases: 1) Initial approach phase (start at [0.587, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.572, 0.509]). The trajectory involves 342 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6499", "trajectory_length": 342, "key_frame_indices": [ 0, 259, 341 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6499.json" } }, { "id": "droid_molmo_sam2_episode_7333", "task": "Remove the paper towel roll from the stand and place it on the counter.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7333/0000.jpg", "droid_molmo_sam2/images/episode_7333/0250.jpg", "droid_molmo_sam2/images/episode_7333/0400.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the paper towel roll from the stand and place it on the counter.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the paper towel roll from the stand and place it on the counter., execute the following phases: 1) Initial approach phase (start at [0.648, 0.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.385]). The trajectory involves 401 precise waypoints with total movement distance of 0.940." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7333", "trajectory_length": 401, "key_frame_indices": [ 0, 250, 400 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7333.json" } }, { "id": "droid_molmo_sam2_episode_34899", "task": "Pick the clothes on the box and put them on the back rest of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34899/0000.jpg", "droid_molmo_sam2/images/episode_34899/0413.jpg", "droid_molmo_sam2/images/episode_34899/0659.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the clothes on the box and put them on the back rest of the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the clothes on the box and put them on the back rest of the chair, execute the following phases: 1) Initial approach phase (start at [0.657, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.801]). The trajectory involves 660 precise waypoints with total movement distance of 4.165." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34899", "trajectory_length": 660, "key_frame_indices": [ 0, 413, 659 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34899.json" } }, { "id": "droid_molmo_sam2_episode_6756", "task": "Fold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6756/0000.jpg", "droid_molmo_sam2/images/episode_6756/0383.jpg", "droid_molmo_sam2/images/episode_6756/0441.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.616, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.685]). The trajectory involves 442 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6756", "trajectory_length": 442, "key_frame_indices": [ 0, 383, 441 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6756.json" } }, { "id": "droid_molmo_sam2_episode_34003", "task": "Open the cover of the book on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34003/0000.jpg", "droid_molmo_sam2/images/episode_34003/0457.jpg", "droid_molmo_sam2/images/episode_34003/0502.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cover of the book on the table?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cover of the book on the table, execute the following phases: 1) Initial approach phase (start at [0.790, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.856]). The trajectory involves 503 precise waypoints with total movement distance of 1.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34003", "trajectory_length": 503, "key_frame_indices": [ 0, 457, 502 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34003.json" } }, { "id": "droid_molmo_sam2_episode_6635", "task": "Pick up the lid off the pan on the stove and put it on the countertop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6635/0000.jpg", "droid_molmo_sam2/images/episode_6635/0097.jpg", "droid_molmo_sam2/images/episode_6635/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid off the pan on the stove and put it on the countertop.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the lid off the pan on the stove and put it on the countertop., execute the following phases: 1) Initial approach phase (start at [0.674, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.806, 0.524]). The trajectory involves 163 precise waypoints with total movement distance of 0.755." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6635", "trajectory_length": 163, "key_frame_indices": [ 0, 97, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6635.json" } }, { "id": "droid_molmo_sam2_episode_4684", "task": "Move the red mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4684/0000.jpg", "droid_molmo_sam2/images/episode_4684/0273.jpg", "droid_molmo_sam2/images/episode_4684/0384.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red mug to the right, execute the following phases: 1) Initial approach phase (start at [0.469, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.605]). The trajectory involves 385 precise waypoints with total movement distance of 0.760." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4684", "trajectory_length": 385, "key_frame_indices": [ 0, 273, 384 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4684.json" } }, { "id": "droid_molmo_sam2_episode_38121", "task": "Remove the purple plush toy from the beige plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38121/0000.jpg", "droid_molmo_sam2/images/episode_38121/0129.jpg", "droid_molmo_sam2/images/episode_38121/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple plush toy from the beige plate?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple plush toy from the beige plate, execute the following phases: 1) Initial approach phase (start at [0.510, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.592]). The trajectory involves 188 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38121", "trajectory_length": 188, "key_frame_indices": [ 0, 129, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38121.json" } }, { "id": "droid_molmo_sam2_episode_38883", "task": "Pick the knife and put it in the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38883/0000.jpg", "droid_molmo_sam2/images/episode_38883/0423.jpg", "droid_molmo_sam2/images/episode_38883/0437.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the knife and put it in the drawer?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the knife and put it in the drawer, execute the following phases: 1) Initial approach phase (start at [0.613, 0.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.779, 0.723]). The trajectory involves 438 precise waypoints with total movement distance of 1.813." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38883", "trajectory_length": 438, "key_frame_indices": [ 0, 423, 437 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38883.json" } }, { "id": "droid_molmo_sam2_episode_1315", "task": "Put the orange masking tape in the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1315/0000.jpg", "droid_molmo_sam2/images/episode_1315/0151.jpg", "droid_molmo_sam2/images/episode_1315/0188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange masking tape in the drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange masking tape in the drawer, execute the following phases: 1) Initial approach phase (start at [0.479, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.867]). The trajectory involves 189 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1315", "trajectory_length": 189, "key_frame_indices": [ 0, 151, 188 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1315.json" } }, { "id": "droid_molmo_sam2_episode_37749", "task": "Move the faucet to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37749/0000.jpg", "droid_molmo_sam2/images/episode_37749/0145.jpg", "droid_molmo_sam2/images/episode_37749/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet to the left, execute the following phases: 1) Initial approach phase (start at [0.796, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.785, 0.682]). The trajectory involves 148 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37749", "trajectory_length": 148, "key_frame_indices": [ 0, 145, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37749.json" } }, { "id": "droid_molmo_sam2_episode_35989", "task": "Put the red packet in the sink on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35989/0000.jpg", "droid_molmo_sam2/images/episode_35989/0186.jpg", "droid_molmo_sam2/images/episode_35989/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red packet in the sink on the left.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red packet in the sink on the left., execute the following phases: 1) Initial approach phase (start at [0.312, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.938]). The trajectory involves 308 precise waypoints with total movement distance of 1.124." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35989", "trajectory_length": 308, "key_frame_indices": [ 0, 186, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35989.json" } }, { "id": "droid_molmo_sam2_episode_31076", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31076/0000.jpg", "droid_molmo_sam2/images/episode_31076/0142.jpg", "droid_molmo_sam2/images/episode_31076/0240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.611, 0.859]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.769]). The trajectory involves 241 precise waypoints with total movement distance of 0.843." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31076", "trajectory_length": 241, "key_frame_indices": [ 0, 142, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31076.json" } }, { "id": "droid_molmo_sam2_episode_6459", "task": "Pour the contents of the cup into the bowl then use the spoon to mix them", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6459/0000.jpg", "droid_molmo_sam2/images/episode_6459/0183.jpg", "droid_molmo_sam2/images/episode_6459/0620.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the cup into the bowl then use the spoon to mix them?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the cup into the bowl then use the spoon to mix them, execute the following phases: 1) Initial approach phase (start at [0.628, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.791, 0.745]). The trajectory involves 621 precise waypoints with total movement distance of 2.001." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6459", "trajectory_length": 621, "key_frame_indices": [ 0, 183, 620 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6459.json" } }, { "id": "droid_molmo_sam2_episode_6680", "task": "Straighten the beddings on the bottom right corner of the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6680/0000.jpg", "droid_molmo_sam2/images/episode_6680/0137.jpg", "droid_molmo_sam2/images/episode_6680/1254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the beddings on the bottom right corner of the bed?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the beddings on the bottom right corner of the bed, execute the following phases: 1) Initial approach phase (start at [0.651, 0.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 0.563]). The trajectory involves 1255 precise waypoints with total movement distance of 7.516." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6680", "trajectory_length": 1255, "key_frame_indices": [ 0, 137, 1254 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6680.json" } }, { "id": "droid_molmo_sam2_episode_3050", "task": "Put the hanger on the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3050/0000.jpg", "droid_molmo_sam2/images/episode_3050/0001.jpg", "droid_molmo_sam2/images/episode_3050/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the hanger on the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the hanger on the cloth, execute the following phases: 1) Initial approach phase (start at [0.515, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.732]). The trajectory involves 169 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3050", "trajectory_length": 169, "key_frame_indices": [ 0, 1, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3050.json" } }, { "id": "droid_molmo_sam2_episode_34143", "task": "Open the sandwich maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34143/0000.jpg", "droid_molmo_sam2/images/episode_34143/0136.jpg", "droid_molmo_sam2/images/episode_34143/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the sandwich maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the sandwich maker, execute the following phases: 1) Initial approach phase (start at [0.468, 0.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.544]). The trajectory involves 205 precise waypoints with total movement distance of 0.807." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34143", "trajectory_length": 205, "key_frame_indices": [ 0, 136, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34143.json" } }, { "id": "droid_molmo_sam2_episode_162", "task": "Move the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_162/0000.jpg", "droid_molmo_sam2/images/episode_162/0049.jpg", "droid_molmo_sam2/images/episode_162/0364.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.492, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.641]). The trajectory involves 365 precise waypoints with total movement distance of 1.261." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_162", "trajectory_length": 365, "key_frame_indices": [ 0, 49, 364 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_162.json" } }, { "id": "droid_molmo_sam2_episode_35448", "task": "Fold the red and white cloth neatly", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35448/0000.jpg", "droid_molmo_sam2/images/episode_35448/0143.jpg", "droid_molmo_sam2/images/episode_35448/0405.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the red and white cloth neatly?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the red and white cloth neatly, execute the following phases: 1) Initial approach phase (start at [0.505, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.602]). The trajectory involves 406 precise waypoints with total movement distance of 1.711." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35448", "trajectory_length": 406, "key_frame_indices": [ 0, 143, 405 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35448.json" } }, { "id": "droid_molmo_sam2_episode_35514", "task": "Use the yellow towel to wipe the tabletop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35514/0000.jpg", "droid_molmo_sam2/images/episode_35514/0047.jpg", "droid_molmo_sam2/images/episode_35514/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the yellow towel to wipe the tabletop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the yellow towel to wipe the tabletop, execute the following phases: 1) Initial approach phase (start at [0.679, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.432]). The trajectory involves 125 precise waypoints with total movement distance of 1.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35514", "trajectory_length": 125, "key_frame_indices": [ 0, 47, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35514.json" } }, { "id": "droid_molmo_sam2_episode_38413", "task": "Take the bottle and put it on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38413/0000.jpg", "droid_molmo_sam2/images/episode_38413/0133.jpg", "droid_molmo_sam2/images/episode_38413/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the bottle and put it on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the bottle and put it on the object, execute the following phases: 1) Initial approach phase (start at [0.643, 0.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.065, 0.135]). The trajectory involves 168 precise waypoints with total movement distance of 0.852." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38413", "trajectory_length": 168, "key_frame_indices": [ 0, 133, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38413.json" } }, { "id": "droid_molmo_sam2_episode_2527", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2527/0000.jpg", "droid_molmo_sam2/images/episode_2527/0130.jpg", "droid_molmo_sam2/images/episode_2527/0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.689, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.437]). The trajectory involves 208 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2527", "trajectory_length": 208, "key_frame_indices": [ 0, 130, 207 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2527.json" } }, { "id": "droid_molmo_sam2_episode_204", "task": "Put the marker in the cloth and wrap it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_204/0000.jpg", "droid_molmo_sam2/images/episode_204/0366.jpg", "droid_molmo_sam2/images/episode_204/0386.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cloth and wrap it?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the cloth and wrap it, execute the following phases: 1) Initial approach phase (start at [0.477, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 387 precise waypoints with total movement distance of 2.456." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_204", "trajectory_length": 387, "key_frame_indices": [ 0, 366, 386 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_204.json" } }, { "id": "droid_molmo_sam2_episode_7283", "task": "Wipe the surface with the paper towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7283/0000.jpg", "droid_molmo_sam2/images/episode_7283/0223.jpg", "droid_molmo_sam2/images/episode_7283/0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the surface with the paper towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the surface with the paper towel, execute the following phases: 1) Initial approach phase (start at [0.305, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.903]). The trajectory involves 306 precise waypoints with total movement distance of 1.735." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7283", "trajectory_length": 306, "key_frame_indices": [ 0, 223, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7283.json" } }, { "id": "droid_molmo_sam2_episode_7249", "task": "Move the mug to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7249/0000.jpg", "droid_molmo_sam2/images/episode_7249/0225.jpg", "droid_molmo_sam2/images/episode_7249/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left., execute the following phases: 1) Initial approach phase (start at [0.620, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.422]). The trajectory involves 305 precise waypoints with total movement distance of 0.647." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7249", "trajectory_length": 305, "key_frame_indices": [ 0, 225, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7249.json" } }, { "id": "droid_molmo_sam2_episode_31784", "task": "Move the box to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31784/0000.jpg", "droid_molmo_sam2/images/episode_31784/0068.jpg", "droid_molmo_sam2/images/episode_31784/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the box to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the box to the left, execute the following phases: 1) Initial approach phase (start at [0.387, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.603]). The trajectory involves 150 precise waypoints with total movement distance of 0.641." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31784", "trajectory_length": 150, "key_frame_indices": [ 0, 68, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31784.json" } }, { "id": "droid_molmo_sam2_episode_36180", "task": "Pick the object and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36180/0000.jpg", "droid_molmo_sam2/images/episode_36180/0125.jpg", "droid_molmo_sam2/images/episode_36180/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the object and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.651, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.456]). The trajectory involves 134 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36180", "trajectory_length": 134, "key_frame_indices": [ 0, 125, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36180.json" } }, { "id": "droid_molmo_sam2_episode_33971", "task": "Slide the curtain to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33971/0000.jpg", "droid_molmo_sam2/images/episode_33971/0234.jpg", "droid_molmo_sam2/images/episode_33971/0274.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the curtain to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the curtain to the left, execute the following phases: 1) Initial approach phase (start at [0.281, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.497]). The trajectory involves 275 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33971", "trajectory_length": 275, "key_frame_indices": [ 0, 234, 274 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33971.json" } }, { "id": "droid_molmo_sam2_episode_39228", "task": "Spread the towel on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39228/0000.jpg", "droid_molmo_sam2/images/episode_39228/0408.jpg", "droid_molmo_sam2/images/episode_39228/0454.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread the towel on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread the towel on the countertop, execute the following phases: 1) Initial approach phase (start at [0.611, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.700]). The trajectory involves 455 precise waypoints with total movement distance of 1.234." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39228", "trajectory_length": 455, "key_frame_indices": [ 0, 408, 454 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39228.json" } }, { "id": "droid_molmo_sam2_episode_7174", "task": "Close the microwave", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7174/0000.jpg", "droid_molmo_sam2/images/episode_7174/0092.jpg", "droid_molmo_sam2/images/episode_7174/0317.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the microwave?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the microwave, execute the following phases: 1) Initial approach phase (start at [0.559, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.419]). The trajectory involves 318 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7174", "trajectory_length": 318, "key_frame_indices": [ 0, 92, 317 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7174.json" } }, { "id": "droid_molmo_sam2_episode_6587", "task": "Pull the box out of the bottom of the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6587/0000.jpg", "droid_molmo_sam2/images/episode_6587/0162.jpg", "droid_molmo_sam2/images/episode_6587/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the box out of the bottom of the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the box out of the bottom of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.465, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.744]). The trajectory involves 171 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6587", "trajectory_length": 171, "key_frame_indices": [ 0, 162, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6587.json" } }, { "id": "droid_molmo_sam2_episode_35082", "task": "Fold the fleece blanket in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35082/0000.jpg", "droid_molmo_sam2/images/episode_35082/0213.jpg", "droid_molmo_sam2/images/episode_35082/0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the fleece blanket in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the fleece blanket in half, execute the following phases: 1) Initial approach phase (start at [0.566, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.901]). The trajectory involves 302 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35082", "trajectory_length": 302, "key_frame_indices": [ 0, 213, 301 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35082.json" } }, { "id": "droid_molmo_sam2_episode_32706", "task": "Get the rightmost plate on the plate dryer and put it on top of the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32706/0000.jpg", "droid_molmo_sam2/images/episode_32706/0195.jpg", "droid_molmo_sam2/images/episode_32706/0343.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the rightmost plate on the plate dryer and put it on top of the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the rightmost plate on the plate dryer and put it on top of the white plate, execute the following phases: 1) Initial approach phase (start at [0.432, 0.947]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.961]). The trajectory involves 344 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32706", "trajectory_length": 344, "key_frame_indices": [ 0, 195, 343 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32706.json" } }, { "id": "droid_molmo_sam2_episode_3860", "task": "Take the snack pack out of the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3860/0000.jpg", "droid_molmo_sam2/images/episode_3860/0161.jpg", "droid_molmo_sam2/images/episode_3860/0231.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_molmo_sam2 manipulation: Take the snack pack out of the sink, execute the following phases: 1) Initial approach phase (start at [0.438, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.267, 0.804]). The trajectory involves 232 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3860", "trajectory_length": 232, "key_frame_indices": [ 0, 161, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3860.json" } }, { "id": "droid_molmo_sam2_episode_37376", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37376/0000.jpg", "droid_molmo_sam2/images/episode_37376/0189.jpg", "droid_molmo_sam2/images/episode_37376/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.526, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.447]). The trajectory involves 283 precise waypoints with total movement distance of 1.237." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37376", "trajectory_length": 283, "key_frame_indices": [ 0, 189, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37376.json" } }, { "id": "droid_molmo_sam2_episode_6960", "task": "Untangle the ropes on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6960/0000.jpg", "droid_molmo_sam2/images/episode_6960/0111.jpg", "droid_molmo_sam2/images/episode_6960/0629.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Untangle the ropes on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Untangle the ropes on the table, execute the following phases: 1) Initial approach phase (start at [0.432, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.724]). The trajectory involves 630 precise waypoints with total movement distance of 2.791." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6960", "trajectory_length": 630, "key_frame_indices": [ 0, 111, 629 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6960.json" } }, { "id": "droid_molmo_sam2_episode_3062", "task": "Remove the spoon from the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3062/0000.jpg", "droid_molmo_sam2/images/episode_3062/0169.jpg", "droid_molmo_sam2/images/episode_3062/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the spoon from the bowl.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the spoon from the bowl., execute the following phases: 1) Initial approach phase (start at [0.399, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.675]). The trajectory involves 185 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3062", "trajectory_length": 185, "key_frame_indices": [ 0, 169, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3062.json" } }, { "id": "droid_molmo_sam2_episode_6249", "task": "Hang the white towel on the black bar", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6249/0000.jpg", "droid_molmo_sam2/images/episode_6249/0165.jpg", "droid_molmo_sam2/images/episode_6249/0179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white towel on the black bar?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white towel on the black bar, execute the following phases: 1) Initial approach phase (start at [0.561, 0.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.260]). The trajectory involves 180 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6249", "trajectory_length": 180, "key_frame_indices": [ 0, 165, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6249.json" } }, { "id": "droid_molmo_sam2_episode_122", "task": "Move the gray doll to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_122/0000.jpg", "droid_molmo_sam2/images/episode_122/0058.jpg", "droid_molmo_sam2/images/episode_122/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the gray doll to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the gray doll to the left, execute the following phases: 1) Initial approach phase (start at [0.872, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.684, 0.668]). The trajectory involves 113 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_122", "trajectory_length": 113, "key_frame_indices": [ 0, 58, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_122.json" } }, { "id": "droid_molmo_sam2_episode_34581", "task": "Put one of the left towels on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34581/0000.jpg", "droid_molmo_sam2/images/episode_34581/0133.jpg", "droid_molmo_sam2/images/episode_34581/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one of the left towels on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put one of the left towels on the counter, execute the following phases: 1) Initial approach phase (start at [0.633, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.602]). The trajectory involves 176 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34581", "trajectory_length": 176, "key_frame_indices": [ 0, 133, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34581.json" } }, { "id": "droid_molmo_sam2_episode_35976", "task": "Remove the marker from the pot and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35976/0000.jpg", "droid_molmo_sam2/images/episode_35976/0154.jpg", "droid_molmo_sam2/images/episode_35976/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the pot and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.495, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.496]). The trajectory involves 213 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35976", "trajectory_length": 213, "key_frame_indices": [ 0, 154, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35976.json" } }, { "id": "droid_molmo_sam2_episode_119", "task": "Move the bottle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_119/0000.jpg", "droid_molmo_sam2/images/episode_119/0118.jpg", "droid_molmo_sam2/images/episode_119/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.589, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.334]). The trajectory involves 126 precise waypoints with total movement distance of 0.880." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_119", "trajectory_length": 126, "key_frame_indices": [ 0, 118, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_119.json" } }, { "id": "droid_molmo_sam2_episode_34209", "task": "Place the block in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34209/0000.jpg", "droid_molmo_sam2/images/episode_34209/0103.jpg", "droid_molmo_sam2/images/episode_34209/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the block in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the block in the bowl, execute the following phases: 1) Initial approach phase (start at [0.522, 0.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 123 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34209", "trajectory_length": 123, "key_frame_indices": [ 0, 103, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34209.json" } }, { "id": "droid_molmo_sam2_episode_33961", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33961/0000.jpg", "droid_molmo_sam2/images/episode_33961/0170.jpg", "droid_molmo_sam2/images/episode_33961/0222.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 [0.557, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.414]). The trajectory involves 223 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33961", "trajectory_length": 223, "key_frame_indices": [ 0, 170, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33961.json" } }, { "id": "droid_molmo_sam2_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", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4429/0000.jpg", "droid_molmo_sam2/images/episode_4429/0347.jpg", "droid_molmo_sam2/images/episode_4429/0596.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?" }, { "from": "gpt", "value": "To complete this repositioning: Hang the white and blue towel on the stand, remove the towel from the stand, hang the towel back on the stand, execute the following phases: 1) Initial approach phase (start at [0.472, 0.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.182]). The trajectory involves 597 precise waypoints with total movement distance of 2.687." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4429", "trajectory_length": 597, "key_frame_indices": [ 0, 347, 596 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4429.json" } }, { "id": "droid_molmo_sam2_episode_32987", "task": "Move the yellow soda can to the left side of the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32987/0000.jpg", "droid_molmo_sam2/images/episode_32987/0093.jpg", "droid_molmo_sam2/images/episode_32987/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow soda can to the left side of the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow soda can to the left side of the desk, execute the following phases: 1) Initial approach phase (start at [0.765, 0.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.682]). The trajectory involves 212 precise waypoints with total movement distance of 0.900." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32987", "trajectory_length": 212, "key_frame_indices": [ 0, 93, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32987.json" } }, { "id": "droid_molmo_sam2_episode_31166", "task": "Use the brush to clean the silver bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31166/0000.jpg", "droid_molmo_sam2/images/episode_31166/0254.jpg", "droid_molmo_sam2/images/episode_31166/0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the brush to clean the silver bottle?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the brush to clean the silver bottle, execute the following phases: 1) Initial approach phase (start at [0.790, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.807, 0.717]). The trajectory involves 260 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31166", "trajectory_length": 260, "key_frame_indices": [ 0, 254, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31166.json" } }, { "id": "droid_molmo_sam2_episode_4654", "task": "Plug the charger head into the adapter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4654/0000.jpg", "droid_molmo_sam2/images/episode_4654/0053.jpg", "droid_molmo_sam2/images/episode_4654/0668.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Plug the charger head into the adapter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Plug the charger head into the adapter, execute the following phases: 1) Initial approach phase (start at [0.496, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.768]). The trajectory involves 669 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4654", "trajectory_length": 669, "key_frame_indices": [ 0, 53, 668 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4654.json" } }, { "id": "droid_molmo_sam2_episode_1917", "task": "Transfer the silver pot from the scale to the green plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1917/0000.jpg", "droid_molmo_sam2/images/episode_1917/0131.jpg", "droid_molmo_sam2/images/episode_1917/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Transfer the silver pot from the scale to the green plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Transfer the silver pot from the scale to the green plate, execute the following phases: 1) Initial approach phase (start at [0.730, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 199 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1917", "trajectory_length": 199, "key_frame_indices": [ 0, 131, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1917.json" } }, { "id": "droid_molmo_sam2_episode_30669", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30669/0000.jpg", "droid_molmo_sam2/images/episode_30669/0201.jpg", "droid_molmo_sam2/images/episode_30669/0205.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 [0.627, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.508]). The trajectory involves 206 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30669", "trajectory_length": 206, "key_frame_indices": [ 0, 201, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30669.json" } }, { "id": "droid_molmo_sam2_episode_39580", "task": "Put the orange sharpie into the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39580/0000.jpg", "droid_molmo_sam2/images/episode_39580/0148.jpg", "droid_molmo_sam2/images/episode_39580/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange sharpie into the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange sharpie into the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.437, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.528]). The trajectory involves 177 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39580", "trajectory_length": 177, "key_frame_indices": [ 0, 148, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39580.json" } }, { "id": "droid_molmo_sam2_episode_6149", "task": "Move the cap to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6149/0000.jpg", "droid_molmo_sam2/images/episode_6149/0192.jpg", "droid_molmo_sam2/images/episode_6149/0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cap to the left, execute the following phases: 1) Initial approach phase (start at [0.433, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.286]). The trajectory involves 259 precise waypoints with total movement distance of 1.267." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6149", "trajectory_length": 259, "key_frame_indices": [ 0, 192, 258 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6149.json" } }, { "id": "droid_molmo_sam2_episode_3018", "task": "No action", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3018/0000.jpg", "droid_molmo_sam2/images/episode_3018/0001.jpg", "droid_molmo_sam2/images/episode_3018/0429.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: No action?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: No action, execute the following phases: 1) Initial approach phase (start at [0.464, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.603]). The trajectory involves 430 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3018", "trajectory_length": 430, "key_frame_indices": [ 0, 1, 429 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3018.json" } }, { "id": "droid_molmo_sam2_episode_31368", "task": "Pick up the yellow cable and put it in the cable storage object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31368/0000.jpg", "droid_molmo_sam2/images/episode_31368/0124.jpg", "droid_molmo_sam2/images/episode_31368/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow cable and put it in the cable storage object?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow cable and put it in the cable storage object, execute the following phases: 1) Initial approach phase (start at [0.614, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.444]). The trajectory involves 166 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31368", "trajectory_length": 166, "key_frame_indices": [ 0, 124, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31368.json" } }, { "id": "droid_molmo_sam2_episode_35616", "task": "Move the candy bar to the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35616/0000.jpg", "droid_molmo_sam2/images/episode_35616/0201.jpg", "droid_molmo_sam2/images/episode_35616/0362.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the candy bar to the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Move the candy bar to the sink, execute the following phases: 1) Initial approach phase (start at [0.305, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.987]). The trajectory involves 363 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35616", "trajectory_length": 363, "key_frame_indices": [ 0, 201, 362 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35616.json" } }, { "id": "droid_molmo_sam2_episode_7312", "task": "Pull out the black basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7312/0000.jpg", "droid_molmo_sam2/images/episode_7312/0056.jpg", "droid_molmo_sam2/images/episode_7312/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out the black basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out the black basket, execute the following phases: 1) Initial approach phase (start at [0.454, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.762]). The trajectory involves 137 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7312", "trajectory_length": 137, "key_frame_indices": [ 0, 56, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7312.json" } }, { "id": "droid_molmo_sam2_episode_3976", "task": "Move the lint roller away from you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3976/0000.jpg", "droid_molmo_sam2/images/episode_3976/0150.jpg", "droid_molmo_sam2/images/episode_3976/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the lint roller away from you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the lint roller away from you, execute the following phases: 1) Initial approach phase (start at [0.257, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.646]). The trajectory involves 215 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3976", "trajectory_length": 215, "key_frame_indices": [ 0, 150, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3976.json" } }, { "id": "droid_molmo_sam2_episode_388", "task": "Put the blue bowl on the bottom shelf of the open cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_388/0000.jpg", "droid_molmo_sam2/images/episode_388/0228.jpg", "droid_molmo_sam2/images/episode_388/0244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue bowl on the bottom shelf of the open cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the blue bowl on the bottom shelf of the open cabinet, execute the following phases: 1) Initial approach phase (start at [0.612, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.593]). The trajectory involves 245 precise waypoints with total movement distance of 1.003." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_388", "trajectory_length": 245, "key_frame_indices": [ 0, 228, 244 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_388.json" } }, { "id": "droid_molmo_sam2_episode_30706", "task": "Slide the cloth to the right on the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30706/0000.jpg", "droid_molmo_sam2/images/episode_30706/0077.jpg", "droid_molmo_sam2/images/episode_30706/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cloth to the right on the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cloth to the right on the desk, execute the following phases: 1) Initial approach phase (start at [0.553, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.664, 0.650]). The trajectory involves 99 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30706", "trajectory_length": 99, "key_frame_indices": [ 0, 77, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30706.json" } }, { "id": "droid_molmo_sam2_episode_32118", "task": "Move the pineapple from the pot to the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32118/0000.jpg", "droid_molmo_sam2/images/episode_32118/0196.jpg", "droid_molmo_sam2/images/episode_32118/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pineapple from the pot to the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pineapple from the pot to the bowl, execute the following phases: 1) Initial approach phase (start at [0.435, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.902]). The trajectory involves 256 precise waypoints with total movement distance of 2.138." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32118", "trajectory_length": 256, "key_frame_indices": [ 0, 196, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32118.json" } }, { "id": "droid_molmo_sam2_episode_30452", "task": "Press the button on the kettle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30452/0000.jpg", "droid_molmo_sam2/images/episode_30452/0140.jpg", "droid_molmo_sam2/images/episode_30452/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the kettle?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the kettle, execute the following phases: 1) Initial approach phase (start at [0.538, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.750]). The trajectory involves 171 precise waypoints with total movement distance of 0.060." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30452", "trajectory_length": 171, "key_frame_indices": [ 0, 140, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30452.json" } }, { "id": "droid_molmo_sam2_episode_2476", "task": "Put the orange packet inside the sink.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2476/0000.jpg", "droid_molmo_sam2/images/episode_2476/0221.jpg", "droid_molmo_sam2/images/episode_2476/0311.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_molmo_sam2 manipulation: Put the orange packet inside the sink., execute the following phases: 1) Initial approach phase (start at [0.273, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.909]). The trajectory involves 312 precise waypoints with total movement distance of 0.687." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2476", "trajectory_length": 312, "key_frame_indices": [ 0, 221, 311 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2476.json" } }, { "id": "droid_molmo_sam2_episode_6964", "task": "Put the stopper on the drain in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6964/0000.jpg", "droid_molmo_sam2/images/episode_6964/0234.jpg", "droid_molmo_sam2/images/episode_6964/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the stopper on the drain in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the stopper on the drain in the sink, execute the following phases: 1) Initial approach phase (start at [0.787, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 0.506]). The trajectory involves 258 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6964", "trajectory_length": 258, "key_frame_indices": [ 0, 234, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6964.json" } }, { "id": "droid_molmo_sam2_episode_37809", "task": "Put the pen in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37809/0000.jpg", "droid_molmo_sam2/images/episode_37809/0201.jpg", "droid_molmo_sam2/images/episode_37809/0231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the mug, execute the following phases: 1) Initial approach phase (start at [0.646, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 232 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37809", "trajectory_length": 232, "key_frame_indices": [ 0, 201, 231 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37809.json" } }, { "id": "droid_molmo_sam2_episode_563", "task": "Move the faucet spout to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_563/0000.jpg", "droid_molmo_sam2/images/episode_563/0037.jpg", "droid_molmo_sam2/images/episode_563/0193.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 [0.810, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.791, 0.536]). The trajectory involves 194 precise waypoints with total movement distance of 1.082." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_563", "trajectory_length": 194, "key_frame_indices": [ 0, 37, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_563.json" } }, { "id": "droid_molmo_sam2_episode_32348", "task": "Slide the grey towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32348/0000.jpg", "droid_molmo_sam2/images/episode_32348/0050.jpg", "droid_molmo_sam2/images/episode_32348/0067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the grey towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the grey towel to the left, execute the following phases: 1) Initial approach phase (start at [0.577, 0.696]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.483]). The trajectory involves 68 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32348", "trajectory_length": 68, "key_frame_indices": [ 0, 50, 67 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32348.json" } }, { "id": "droid_molmo_sam2_episode_6502", "task": "Move the bottle backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6502/0000.jpg", "droid_molmo_sam2/images/episode_6502/0090.jpg", "droid_molmo_sam2/images/episode_6502/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle backwards, execute the following phases: 1) Initial approach phase (start at [0.738, 0.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.570, 0.171]). The trajectory involves 125 precise waypoints with total movement distance of 0.720." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6502", "trajectory_length": 125, "key_frame_indices": [ 0, 90, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6502.json" } }, { "id": "droid_molmo_sam2_episode_925", "task": "Slide the green towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_925/0000.jpg", "droid_molmo_sam2/images/episode_925/0067.jpg", "droid_molmo_sam2/images/episode_925/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the green towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the green towel to the right, 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 [0.575, 0.670]). The trajectory involves 103 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_925", "trajectory_length": 103, "key_frame_indices": [ 0, 67, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_925.json" } }, { "id": "droid_molmo_sam2_episode_31906", "task": "Use the towel to wipe the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31906/0000.jpg", "droid_molmo_sam2/images/episode_31906/0255.jpg", "droid_molmo_sam2/images/episode_31906/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the counter, execute the following phases: 1) Initial approach phase (start at [0.433, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.714]). The trajectory involves 337 precise waypoints with total movement distance of 1.133." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31906", "trajectory_length": 337, "key_frame_indices": [ 0, 255, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31906.json" } }, { "id": "droid_molmo_sam2_episode_3676", "task": "Use the towel to clean the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3676/0000.jpg", "droid_molmo_sam2/images/episode_3676/0111.jpg", "droid_molmo_sam2/images/episode_3676/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to clean the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to clean the table, execute the following phases: 1) Initial approach phase (start at [0.513, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.536]). The trajectory involves 127 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3676", "trajectory_length": 127, "key_frame_indices": [ 0, 111, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3676.json" } }, { "id": "droid_molmo_sam2_episode_32761", "task": "Pick the bottle and move it to the right on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32761/0000.jpg", "droid_molmo_sam2/images/episode_32761/0094.jpg", "droid_molmo_sam2/images/episode_32761/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle and move it to the right on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the bottle and move it to the right on the table, execute the following phases: 1) Initial approach phase (start at [0.386, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.551]). The trajectory involves 170 precise waypoints with total movement distance of 1.194." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32761", "trajectory_length": 170, "key_frame_indices": [ 0, 94, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32761.json" } }, { "id": "droid_molmo_sam2_episode_30863", "task": "Move the grey bin to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30863/0000.jpg", "droid_molmo_sam2/images/episode_30863/0023.jpg", "droid_molmo_sam2/images/episode_30863/0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey bin to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey bin to the right, execute the following phases: 1) Initial approach phase (start at [0.599, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 0.791]). The trajectory involves 117 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30863", "trajectory_length": 117, "key_frame_indices": [ 0, 23, 116 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30863.json" } }, { "id": "droid_molmo_sam2_episode_6816", "task": "Take the fruit toys from the table and put them in the two black bowls on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6816/0000.jpg", "droid_molmo_sam2/images/episode_6816/0356.jpg", "droid_molmo_sam2/images/episode_6816/0948.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?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the fruit toys from the table and put them in the two black bowls on the table, execute the following phases: 1) Initial approach phase (start at [0.476, 0.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.249]). The trajectory involves 949 precise waypoints with total movement distance of 4.192." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6816", "trajectory_length": 949, "key_frame_indices": [ 0, 356, 948 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6816.json" } }, { "id": "droid_molmo_sam2_episode_7226", "task": "Close the top drawer of the left cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7226/0000.jpg", "droid_molmo_sam2/images/episode_7226/0105.jpg", "droid_molmo_sam2/images/episode_7226/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.509, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.359, 0.541]). The trajectory involves 120 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7226", "trajectory_length": 120, "key_frame_indices": [ 0, 105, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7226.json" } }, { "id": "droid_molmo_sam2_episode_695", "task": "Place the black masking tape on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_695/0000.jpg", "droid_molmo_sam2/images/episode_695/0071.jpg", "droid_molmo_sam2/images/episode_695/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the black masking tape on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the black masking tape on the white plate, execute the following phases: 1) Initial approach phase (start at [0.448, 0.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.349." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_695", "trajectory_length": 105, "key_frame_indices": [ 0, 71, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_695.json" } }, { "id": "droid_molmo_sam2_episode_39468", "task": "Put the blue cup in the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39468/0000.jpg", "droid_molmo_sam2/images/episode_39468/0030.jpg", "droid_molmo_sam2/images/episode_39468/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue cup in the orange cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue cup in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.528, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.597]). The trajectory involves 122 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39468", "trajectory_length": 122, "key_frame_indices": [ 0, 30, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39468.json" } }, { "id": "droid_molmo_sam2_episode_2798", "task": "Put the green object inside the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2798/0000.jpg", "droid_molmo_sam2/images/episode_2798/0059.jpg", "droid_molmo_sam2/images/episode_2798/0062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green object inside the bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green object inside the bowl., execute the following phases: 1) Initial approach phase (start at [0.783, 0.675]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.658, 0.626]). The trajectory involves 63 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2798", "trajectory_length": 63, "key_frame_indices": [ 0, 59, 62 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2798.json" } }, { "id": "droid_molmo_sam2_episode_934", "task": "Slide the blue towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_934/0000.jpg", "droid_molmo_sam2/images/episode_934/0078.jpg", "droid_molmo_sam2/images/episode_934/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the blue towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the blue towel to the left, execute the following phases: 1) Initial approach phase (start at [0.712, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.543]). The trajectory involves 153 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_934", "trajectory_length": 153, "key_frame_indices": [ 0, 78, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_934.json" } }, { "id": "droid_molmo_sam2_episode_7263", "task": "Slide the red mug cup to the left side of the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7263/0000.jpg", "droid_molmo_sam2/images/episode_7263/0122.jpg", "droid_molmo_sam2/images/episode_7263/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the red mug cup to the left side of the table.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the red mug cup to the left side of the table., execute the following phases: 1) Initial approach phase (start at [0.655, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.486]). The trajectory involves 201 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7263", "trajectory_length": 201, "key_frame_indices": [ 0, 122, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7263.json" } }, { "id": "droid_molmo_sam2_episode_30769", "task": "Press the switch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30769/0000.jpg", "droid_molmo_sam2/images/episode_30769/0072.jpg", "droid_molmo_sam2/images/episode_30769/0184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the switch?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the switch, execute the following phases: 1) Initial approach phase (start at [0.640, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.492]). The trajectory involves 185 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30769", "trajectory_length": 185, "key_frame_indices": [ 0, 72, 184 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30769.json" } }, { "id": "droid_molmo_sam2_episode_3630", "task": "Put the green pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3630/0000.jpg", "droid_molmo_sam2/images/episode_3630/0154.jpg", "droid_molmo_sam2/images/episode_3630/0212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.465, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.376]). The trajectory involves 213 precise waypoints with total movement distance of 1.895." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3630", "trajectory_length": 213, "key_frame_indices": [ 0, 154, 212 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3630.json" } }, { "id": "droid_molmo_sam2_episode_6143", "task": "Open the lid of the container then put the bottle on the table in the container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6143/0000.jpg", "droid_molmo_sam2/images/episode_6143/0173.jpg", "droid_molmo_sam2/images/episode_6143/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the lid of the container then put the bottle on the table in the container?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the lid of the container then put the bottle on the table in the container, execute the following phases: 1) Initial approach phase (start at [0.390, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.535]). The trajectory involves 225 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6143", "trajectory_length": 225, "key_frame_indices": [ 0, 173, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6143.json" } }, { "id": "droid_molmo_sam2_episode_6864", "task": "Press a button on the top of the alarm clock.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6864/0000.jpg", "droid_molmo_sam2/images/episode_6864/0097.jpg", "droid_molmo_sam2/images/episode_6864/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press a button on the top of the alarm clock.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press a button on the top of the alarm clock., execute the following phases: 1) Initial approach phase (start at [0.575, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.854]). The trajectory involves 129 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6864", "trajectory_length": 129, "key_frame_indices": [ 0, 97, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6864.json" } }, { "id": "droid_molmo_sam2_episode_37199", "task": "Fold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37199/0000.jpg", "droid_molmo_sam2/images/episode_37199/0274.jpg", "droid_molmo_sam2/images/episode_37199/0328.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.548, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.664]). The trajectory involves 329 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37199", "trajectory_length": 329, "key_frame_indices": [ 0, 274, 328 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37199.json" } }, { "id": "droid_molmo_sam2_episode_33413", "task": "Put the pen on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33413/0000.jpg", "droid_molmo_sam2/images/episode_33413/0117.jpg", "droid_molmo_sam2/images/episode_33413/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen on the countertop, execute the following phases: 1) Initial approach phase (start at [0.203, 0.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.343]). The trajectory involves 131 precise waypoints with total movement distance of 1.640." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33413", "trajectory_length": 131, "key_frame_indices": [ 0, 117, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33413.json" } }, { "id": "droid_molmo_sam2_episode_31667", "task": "Move the grey towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31667/0000.jpg", "droid_molmo_sam2/images/episode_31667/0102.jpg", "droid_molmo_sam2/images/episode_31667/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the left, execute the following phases: 1) Initial approach phase (start at [0.653, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.463]). The trajectory involves 119 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31667", "trajectory_length": 119, "key_frame_indices": [ 0, 102, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31667.json" } }, { "id": "droid_molmo_sam2_episode_3262", "task": "Push down the handle on the kitchen faucet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3262/0000.jpg", "droid_molmo_sam2/images/episode_3262/0065.jpg", "droid_molmo_sam2/images/episode_3262/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push down the handle on the kitchen faucet?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push down the handle on the kitchen faucet, execute the following phases: 1) Initial approach phase (start at [0.451, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 0.523]). The trajectory involves 103 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3262", "trajectory_length": 103, "key_frame_indices": [ 0, 65, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3262.json" } }, { "id": "droid_molmo_sam2_episode_34156", "task": "Pick up cup and move it slightly forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34156/0000.jpg", "droid_molmo_sam2/images/episode_34156/0133.jpg", "droid_molmo_sam2/images/episode_34156/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up cup and move it slightly forward?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up cup and move it slightly forward, execute the following phases: 1) Initial approach phase (start at [0.435, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.579]). The trajectory involves 190 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34156", "trajectory_length": 190, "key_frame_indices": [ 0, 133, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34156.json" } }, { "id": "droid_molmo_sam2_episode_6035", "task": "Close the open upper cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6035/0000.jpg", "droid_molmo_sam2/images/episode_6035/0167.jpg", "droid_molmo_sam2/images/episode_6035/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the open upper cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the open upper cabinet door, execute the following phases: 1) Initial approach phase (start at [0.525, 0.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 214 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6035", "trajectory_length": 214, "key_frame_indices": [ 0, 167, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6035.json" } }, { "id": "droid_molmo_sam2_episode_36757", "task": "Push the bottom drawer on the left cabinet closed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36757/0000.jpg", "droid_molmo_sam2/images/episode_36757/0086.jpg", "droid_molmo_sam2/images/episode_36757/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the bottom drawer on the left cabinet closed?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Push the bottom drawer on the left cabinet closed, execute the following phases: 1) Initial approach phase (start at [0.508, 0.935]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.944]). The trajectory involves 103 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36757", "trajectory_length": 103, "key_frame_indices": [ 0, 86, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36757.json" } }, { "id": "droid_molmo_sam2_episode_34913", "task": "Put the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34913/0000.jpg", "droid_molmo_sam2/images/episode_34913/0130.jpg", "droid_molmo_sam2/images/episode_34913/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.366, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.316]). The trajectory involves 202 precise waypoints with total movement distance of 0.920." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34913", "trajectory_length": 202, "key_frame_indices": [ 0, 130, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34913.json" } }, { "id": "droid_molmo_sam2_episode_32867", "task": "Remove the red marker from the grey bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32867/0000.jpg", "droid_molmo_sam2/images/episode_32867/0157.jpg", "droid_molmo_sam2/images/episode_32867/0173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red marker from the grey bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red marker from the grey bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.520, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.711]). The trajectory involves 174 precise waypoints with total movement distance of 0.757." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32867", "trajectory_length": 174, "key_frame_indices": [ 0, 157, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32867.json" } }, { "id": "droid_molmo_sam2_episode_37439", "task": "Put the green marker in the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37439/0000.jpg", "droid_molmo_sam2/images/episode_37439/0112.jpg", "droid_molmo_sam2/images/episode_37439/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker in the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker in the white bowl, execute the following phases: 1) Initial approach phase (start at [0.455, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.655]). The trajectory involves 150 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37439", "trajectory_length": 150, "key_frame_indices": [ 0, 112, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37439.json" } }, { "id": "droid_molmo_sam2_episode_3808", "task": "Put the masking tape in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3808/0000.jpg", "droid_molmo_sam2/images/episode_3808/0184.jpg", "droid_molmo_sam2/images/episode_3808/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the masking tape in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the masking tape in the bowl, execute the following phases: 1) Initial approach phase (start at [0.491, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.738]). The trajectory involves 195 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3808", "trajectory_length": 195, "key_frame_indices": [ 0, 184, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3808.json" } }, { "id": "droid_molmo_sam2_episode_32302", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32302/0000.jpg", "droid_molmo_sam2/images/episode_32302/0146.jpg", "droid_molmo_sam2/images/episode_32302/0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.493, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.443]). The trajectory involves 211 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32302", "trajectory_length": 211, "key_frame_indices": [ 0, 146, 210 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32302.json" } }, { "id": "droid_molmo_sam2_episode_1205", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1205/0000.jpg", "droid_molmo_sam2/images/episode_1205/0104.jpg", "droid_molmo_sam2/images/episode_1205/0182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.686, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.703, 0.417]). The trajectory involves 183 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1205", "trajectory_length": 183, "key_frame_indices": [ 0, 104, 182 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1205.json" } }, { "id": "droid_molmo_sam2_episode_33511", "task": "Remove the white spoon from the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33511/0000.jpg", "droid_molmo_sam2/images/episode_33511/0221.jpg", "droid_molmo_sam2/images/episode_33511/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white spoon from the white mug?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white spoon from the white mug, execute the following phases: 1) Initial approach phase (start at [0.598, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.605]). The trajectory involves 237 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33511", "trajectory_length": 237, "key_frame_indices": [ 0, 221, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33511.json" } }, { "id": "droid_molmo_sam2_episode_6779", "task": "Put the book on the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6779/0000.jpg", "droid_molmo_sam2/images/episode_6779/0172.jpg", "droid_molmo_sam2/images/episode_6779/0343.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the book on the desk?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the book on the desk, execute the following phases: 1) Initial approach phase (start at [0.158, 0.147]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.751]). The trajectory involves 344 precise waypoints with total movement distance of 2.818." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6779", "trajectory_length": 344, "key_frame_indices": [ 0, 172, 343 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6779.json" } }, { "id": "droid_molmo_sam2_episode_39503", "task": "Move the can to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39503/0000.jpg", "droid_molmo_sam2/images/episode_39503/0161.jpg", "droid_molmo_sam2/images/episode_39503/0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the can to the right, execute the following phases: 1) Initial approach phase (start at [0.427, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.775]). The trajectory involves 206 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39503", "trajectory_length": 206, "key_frame_indices": [ 0, 161, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39503.json" } }, { "id": "droid_molmo_sam2_episode_30659", "task": "Put the metal object with the orange handle in the the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30659/0000.jpg", "droid_molmo_sam2/images/episode_30659/0096.jpg", "droid_molmo_sam2/images/episode_30659/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the metal object with the orange handle in the the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the metal object with the orange handle in the the black bowl, execute the following phases: 1) Initial approach phase (start at [0.527, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 0.744]). The trajectory involves 110 precise waypoints with total movement distance of 1.201." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30659", "trajectory_length": 110, "key_frame_indices": [ 0, 96, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30659.json" } }, { "id": "droid_molmo_sam2_episode_37182", "task": "Put the pen in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37182/0000.jpg", "droid_molmo_sam2/images/episode_37182/0154.jpg", "droid_molmo_sam2/images/episode_37182/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the mug, execute the following phases: 1) Initial approach phase (start at [0.640, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.411]). The trajectory involves 162 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37182", "trajectory_length": 162, "key_frame_indices": [ 0, 154, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37182.json" } }, { "id": "droid_molmo_sam2_episode_4484", "task": "Put the blue marker in the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4484/0000.jpg", "droid_molmo_sam2/images/episode_4484/0124.jpg", "droid_molmo_sam2/images/episode_4484/0133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue marker in the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blue marker in the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.573, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.458]). The trajectory involves 134 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4484", "trajectory_length": 134, "key_frame_indices": [ 0, 124, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4484.json" } }, { "id": "droid_molmo_sam2_episode_457", "task": "Close the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_457/0000.jpg", "droid_molmo_sam2/images/episode_457/0193.jpg", "droid_molmo_sam2/images/episode_457/0226.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 [0.292, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 227 precise waypoints with total movement distance of 0.844." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_457", "trajectory_length": 227, "key_frame_indices": [ 0, 193, 226 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_457.json" } }, { "id": "droid_molmo_sam2_episode_35245", "task": "Remove the marker from the wine glass and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35245/0000.jpg", "droid_molmo_sam2/images/episode_35245/0114.jpg", "droid_molmo_sam2/images/episode_35245/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the wine glass and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the wine glass and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.467, 0.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.469]). The trajectory involves 148 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35245", "trajectory_length": 148, "key_frame_indices": [ 0, 114, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35245.json" } }, { "id": "droid_molmo_sam2_episode_33529", "task": "Move the blue towel closer to you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33529/0000.jpg", "droid_molmo_sam2/images/episode_33529/0162.jpg", "droid_molmo_sam2/images/episode_33529/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue towel closer to you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue towel closer to you, execute the following phases: 1) Initial approach phase (start at [0.644, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.676]). The trajectory involves 258 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33529", "trajectory_length": 258, "key_frame_indices": [ 0, 162, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33529.json" } }, { "id": "droid_molmo_sam2_episode_36253", "task": "Fold the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36253/0000.jpg", "droid_molmo_sam2/images/episode_36253/0270.jpg", "droid_molmo_sam2/images/episode_36253/0320.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth, execute the following phases: 1) Initial approach phase (start at [0.641, 0.889]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.731]). The trajectory involves 321 precise waypoints with total movement distance of 1.051." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36253", "trajectory_length": 321, "key_frame_indices": [ 0, 270, 320 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36253.json" } }, { "id": "droid_molmo_sam2_episode_36662", "task": "Remove the marker from the cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36662/0000.jpg", "droid_molmo_sam2/images/episode_36662/0059.jpg", "droid_molmo_sam2/images/episode_36662/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the cup.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the cup., execute the following phases: 1) Initial approach phase (start at [0.471, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.836]). The trajectory involves 125 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36662", "trajectory_length": 125, "key_frame_indices": [ 0, 59, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36662.json" } }, { "id": "droid_molmo_sam2_episode_30592", "task": "Pick the towels on the counter and hang them on the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30592/0000.jpg", "droid_molmo_sam2/images/episode_30592/0261.jpg", "droid_molmo_sam2/images/episode_30592/0539.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the towels on the counter and hang them on the drawer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the towels on the counter and hang them on the drawer, execute the following phases: 1) Initial approach phase (start at [0.632, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.718]). The trajectory involves 540 precise waypoints with total movement distance of 1.203." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30592", "trajectory_length": 540, "key_frame_indices": [ 0, 261, 539 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30592.json" } }, { "id": "droid_molmo_sam2_episode_3314", "task": "Open the left upper cabinet door then close it again.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3314/0000.jpg", "droid_molmo_sam2/images/episode_3314/0020.jpg", "droid_molmo_sam2/images/episode_3314/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the left upper cabinet door then close it again.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the left upper cabinet door then close it again., execute the following phases: 1) Initial approach phase (start at [0.399, 0.054]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.059]). The trajectory involves 178 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3314", "trajectory_length": 178, "key_frame_indices": [ 0, 20, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3314.json" } }, { "id": "droid_molmo_sam2_episode_30265", "task": "Pick up the green object from the counter and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30265/0000.jpg", "droid_molmo_sam2/images/episode_30265/0179.jpg", "droid_molmo_sam2/images/episode_30265/0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object from the counter and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object from the counter and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.330, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.966]). The trajectory involves 286 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30265", "trajectory_length": 286, "key_frame_indices": [ 0, 179, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30265.json" } }, { "id": "droid_molmo_sam2_episode_38829", "task": "Put the pair of jeans on the arm rest", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38829/0000.jpg", "droid_molmo_sam2/images/episode_38829/0249.jpg", "droid_molmo_sam2/images/episode_38829/0380.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pair of jeans on the arm rest?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pair of jeans on the arm rest, execute the following phases: 1) Initial approach phase (start at [0.471, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.659]). The trajectory involves 381 precise waypoints with total movement distance of 3.226." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38829", "trajectory_length": 381, "key_frame_indices": [ 0, 249, 380 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38829.json" } }, { "id": "droid_molmo_sam2_episode_32880", "task": "Remove the clothes from the box and put them on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32880/0000.jpg", "droid_molmo_sam2/images/episode_32880/0293.jpg", "droid_molmo_sam2/images/episode_32880/0325.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothes from the box and put them on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothes from the box and put them on the table, execute the following phases: 1) Initial approach phase (start at [0.425, 0.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.532]). The trajectory involves 326 precise waypoints with total movement distance of 1.282." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32880", "trajectory_length": 326, "key_frame_indices": [ 0, 293, 325 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32880.json" } }, { "id": "droid_molmo_sam2_episode_30819", "task": "Move the marker from the left to the right side of the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30819/0000.jpg", "droid_molmo_sam2/images/episode_30819/0229.jpg", "droid_molmo_sam2/images/episode_30819/0252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker from the left to the right side of the mug?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker from the left to the right side of the mug, execute the following phases: 1) Initial approach phase (start at [0.668, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 0.497]). The trajectory involves 253 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30819", "trajectory_length": 253, "key_frame_indices": [ 0, 229, 252 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30819.json" } }, { "id": "droid_molmo_sam2_episode_6246", "task": "Open the bottom drawer of the file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6246/0000.jpg", "droid_molmo_sam2/images/episode_6246/0026.jpg", "droid_molmo_sam2/images/episode_6246/0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bottom drawer of the file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bottom drawer of the file cabinet, execute the following phases: 1) Initial approach phase (start at [0.645, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.626]). The trajectory involves 208 precise waypoints with total movement distance of 0.573." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6246", "trajectory_length": 208, "key_frame_indices": [ 0, 26, 207 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6246.json" } }, { "id": "droid_molmo_sam2_episode_178", "task": "Remove the clothing from the left armrest of the black chair and place it on the sofa", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_178/0000.jpg", "droid_molmo_sam2/images/episode_178/0159.jpg", "droid_molmo_sam2/images/episode_178/0173.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothing from the left armrest of the black chair and place it on the sofa, execute the following phases: 1) Initial approach phase (start at [0.545, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.530]). The trajectory involves 174 precise waypoints with total movement distance of 1.794." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_178", "trajectory_length": 174, "key_frame_indices": [ 0, 159, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_178.json" } }, { "id": "droid_molmo_sam2_episode_39151", "task": "Open the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39151/0000.jpg", "droid_molmo_sam2/images/episode_39151/0218.jpg", "droid_molmo_sam2/images/episode_39151/0240.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 [0.560, 0.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.399]). The trajectory involves 241 precise waypoints with total movement distance of 1.306." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39151", "trajectory_length": 241, "key_frame_indices": [ 0, 218, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39151.json" } }, { "id": "droid_molmo_sam2_episode_37236", "task": "Slide the cloth on the table to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37236/0000.jpg", "droid_molmo_sam2/images/episode_37236/0091.jpg", "droid_molmo_sam2/images/episode_37236/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cloth on the table to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cloth on the table to the left, execute the following phases: 1) Initial approach phase (start at [0.680, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.499]). The trajectory involves 116 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37236", "trajectory_length": 116, "key_frame_indices": [ 0, 91, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37236.json" } }, { "id": "droid_molmo_sam2_episode_4115", "task": "Place the ketchup bottle on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4115/0000.jpg", "droid_molmo_sam2/images/episode_4115/0067.jpg", "droid_molmo_sam2/images/episode_4115/0120.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_molmo_sam2 manipulation: Place the ketchup bottle on the pan, execute the following phases: 1) Initial approach phase (start at [0.617, 0.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 0.475]). The trajectory involves 121 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4115", "trajectory_length": 121, "key_frame_indices": [ 0, 67, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4115.json" } }, { "id": "droid_molmo_sam2_episode_4387", "task": "Pick up the orange cup and put it in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4387/0000.jpg", "droid_molmo_sam2/images/episode_4387/0073.jpg", "droid_molmo_sam2/images/episode_4387/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.416, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.547]). The trajectory involves 113 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4387", "trajectory_length": 113, "key_frame_indices": [ 0, 73, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4387.json" } }, { "id": "droid_molmo_sam2_episode_6262", "task": "Place a white plate on top of the one on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6262/0000.jpg", "droid_molmo_sam2/images/episode_6262/0157.jpg", "droid_molmo_sam2/images/episode_6262/0765.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place a white plate on top of the one on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place a white plate on top of the one on the table, execute the following phases: 1) Initial approach phase (start at [0.587, 0.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.426]). The trajectory involves 766 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6262", "trajectory_length": 766, "key_frame_indices": [ 0, 157, 765 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6262.json" } }, { "id": "droid_molmo_sam2_episode_31247", "task": "Take the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31247/0000.jpg", "droid_molmo_sam2/images/episode_31247/0249.jpg", "droid_molmo_sam2/images/episode_31247/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.487, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.630]). The trajectory involves 283 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31247", "trajectory_length": 283, "key_frame_indices": [ 0, 249, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31247.json" } }, { "id": "droid_molmo_sam2_episode_30862", "task": "Remove the lid from the blue pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30862/0000.jpg", "droid_molmo_sam2/images/episode_30862/0255.jpg", "droid_molmo_sam2/images/episode_30862/0308.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the blue pot?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the blue pot, execute the following phases: 1) Initial approach phase (start at [0.504, 0.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.456]). The trajectory involves 309 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30862", "trajectory_length": 309, "key_frame_indices": [ 0, 255, 308 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30862.json" } }, { "id": "droid_molmo_sam2_episode_1940", "task": "Put the green marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1940/0000.jpg", "droid_molmo_sam2/images/episode_1940/0175.jpg", "droid_molmo_sam2/images/episode_1940/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.342, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.670]). The trajectory involves 194 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1940", "trajectory_length": 194, "key_frame_indices": [ 0, 175, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1940.json" } }, { "id": "droid_molmo_sam2_episode_3424", "task": "Put the orange marker inside the white and green mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3424/0000.jpg", "droid_molmo_sam2/images/episode_3424/0070.jpg", "droid_molmo_sam2/images/episode_3424/0115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker inside the white and green mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange marker inside the white and green mug, execute the following phases: 1) Initial approach phase (start at [0.671, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.527]). The trajectory involves 116 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3424", "trajectory_length": 116, "key_frame_indices": [ 0, 70, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3424.json" } }, { "id": "droid_molmo_sam2_episode_386", "task": "Straighten the white clothing", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_386/0000.jpg", "droid_molmo_sam2/images/episode_386/0131.jpg", "droid_molmo_sam2/images/episode_386/0469.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the white clothing?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the white clothing, execute the following phases: 1) Initial approach phase (start at [0.482, 0.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.452]). The trajectory involves 470 precise waypoints with total movement distance of 1.290." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_386", "trajectory_length": 470, "key_frame_indices": [ 0, 131, 469 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_386.json" } }, { "id": "droid_molmo_sam2_episode_32162", "task": "Slide the bowl forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32162/0000.jpg", "droid_molmo_sam2/images/episode_32162/0081.jpg", "droid_molmo_sam2/images/episode_32162/0102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the bowl forward?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the bowl forward, execute the following phases: 1) Initial approach phase (start at [0.613, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.673]). The trajectory involves 103 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32162", "trajectory_length": 103, "key_frame_indices": [ 0, 81, 102 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32162.json" } }, { "id": "droid_molmo_sam2_episode_34682", "task": "Spread the grey cloth out", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34682/0000.jpg", "droid_molmo_sam2/images/episode_34682/0065.jpg", "droid_molmo_sam2/images/episode_34682/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread the grey cloth out?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread the grey cloth out, execute the following phases: 1) Initial approach phase (start at [0.535, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.573]). The trajectory involves 127 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34682", "trajectory_length": 127, "key_frame_indices": [ 0, 65, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34682.json" } }, { "id": "droid_molmo_sam2_episode_549", "task": "Put the water bottles into the plastic bag.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_549/0000.jpg", "droid_molmo_sam2/images/episode_549/0127.jpg", "droid_molmo_sam2/images/episode_549/0695.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the water bottles into the plastic bag.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the water bottles into the plastic bag., execute the following phases: 1) Initial approach phase (start at [0.462, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.747]). The trajectory involves 696 precise waypoints with total movement distance of 4.891." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_549", "trajectory_length": 696, "key_frame_indices": [ 0, 127, 695 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_549.json" } }, { "id": "droid_molmo_sam2_episode_32524", "task": "Pick up the pink cup, then place it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32524/0000.jpg", "droid_molmo_sam2/images/episode_32524/0128.jpg", "droid_molmo_sam2/images/episode_32524/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pink cup, then place it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pink cup, then place it on the counter, execute the following phases: 1) Initial approach phase (start at [0.493, 0.931]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 147 precise waypoints with total movement distance of 0.861." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32524", "trajectory_length": 147, "key_frame_indices": [ 0, 128, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32524.json" } }, { "id": "droid_molmo_sam2_episode_37742", "task": "Push the faucet handle downwards.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37742/0000.jpg", "droid_molmo_sam2/images/episode_37742/0038.jpg", "droid_molmo_sam2/images/episode_37742/0077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet handle downwards.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet handle downwards., execute the following phases: 1) Initial approach phase (start at [0.430, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.520]). The trajectory involves 78 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37742", "trajectory_length": 78, "key_frame_indices": [ 0, 38, 77 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37742.json" } }, { "id": "droid_molmo_sam2_episode_31439", "task": "Put the sponge on the drying rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31439/0000.jpg", "droid_molmo_sam2/images/episode_31439/0127.jpg", "droid_molmo_sam2/images/episode_31439/0302.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sponge on the drying rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the sponge on the drying rack, execute the following phases: 1) Initial approach phase (start at [0.567, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.561]). The trajectory involves 303 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31439", "trajectory_length": 303, "key_frame_indices": [ 0, 127, 302 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31439.json" } }, { "id": "droid_molmo_sam2_episode_34639", "task": "Move the grey towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34639/0000.jpg", "droid_molmo_sam2/images/episode_34639/0083.jpg", "droid_molmo_sam2/images/episode_34639/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the grey towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the grey towel to the left, execute the following phases: 1) Initial approach phase (start at [0.581, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.470]). The trajectory involves 102 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34639", "trajectory_length": 102, "key_frame_indices": [ 0, 83, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34639.json" } }, { "id": "droid_molmo_sam2_episode_34572", "task": "Put four white pieces of paper in the left bin then put the remaining white pieces of paper in the right bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34572/0000.jpg", "droid_molmo_sam2/images/episode_34572/1048.jpg", "droid_molmo_sam2/images/episode_34572/1466.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put four white pieces of paper in the left bin then put the remaining white pieces of paper in the right bin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put four white pieces of paper in the left bin then put the remaining white pieces of paper in the right bin, execute the following phases: 1) Initial approach phase (start at [0.578, 0.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 1467 precise waypoints with total movement distance of 5.811." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34572", "trajectory_length": 1467, "key_frame_indices": [ 0, 1048, 1466 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34572.json" } }, { "id": "droid_molmo_sam2_episode_4631", "task": "Put the purple plush toy on the cream colored plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4631/0000.jpg", "droid_molmo_sam2/images/episode_4631/0124.jpg", "droid_molmo_sam2/images/episode_4631/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple plush toy on the cream colored plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple plush toy on the cream colored plate, execute the following phases: 1) Initial approach phase (start at [0.540, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.479]). The trajectory involves 177 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4631", "trajectory_length": 177, "key_frame_indices": [ 0, 124, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4631.json" } }, { "id": "droid_molmo_sam2_episode_6655", "task": "Place the blades inside the food processor chamber", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6655/0000.jpg", "droid_molmo_sam2/images/episode_6655/0352.jpg", "droid_molmo_sam2/images/episode_6655/0463.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blades inside the food processor chamber?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the blades inside the food processor chamber, execute the following phases: 1) Initial approach phase (start at [0.591, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.709, 0.548]). The trajectory involves 464 precise waypoints with total movement distance of 0.900." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6655", "trajectory_length": 464, "key_frame_indices": [ 0, 352, 463 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6655.json" } }, { "id": "droid_molmo_sam2_episode_2935", "task": "Move the bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2935/0000.jpg", "droid_molmo_sam2/images/episode_2935/0127.jpg", "droid_molmo_sam2/images/episode_2935/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.506, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.562]). The trajectory involves 226 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2935", "trajectory_length": 226, "key_frame_indices": [ 0, 127, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2935.json" } }, { "id": "droid_molmo_sam2_episode_37088", "task": "Move the marker slightly up on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37088/0000.jpg", "droid_molmo_sam2/images/episode_37088/0100.jpg", "droid_molmo_sam2/images/episode_37088/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker slightly up on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker slightly up on the table, execute the following phases: 1) Initial approach phase (start at [0.741, 0.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.471]). The trajectory involves 143 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37088", "trajectory_length": 143, "key_frame_indices": [ 0, 100, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37088.json" } }, { "id": "droid_molmo_sam2_episode_1970", "task": "Move the white cup a little bit to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1970/0000.jpg", "droid_molmo_sam2/images/episode_1970/0129.jpg", "droid_molmo_sam2/images/episode_1970/0193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white cup a little bit to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white cup a little bit to the right, execute the following phases: 1) Initial approach phase (start at [0.542, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.482]). The trajectory involves 194 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1970", "trajectory_length": 194, "key_frame_indices": [ 0, 129, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1970.json" } }, { "id": "droid_molmo_sam2_episode_745", "task": "Unstack the green blocks", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_745/0000.jpg", "droid_molmo_sam2/images/episode_745/0038.jpg", "droid_molmo_sam2/images/episode_745/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the green blocks?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unstack the green blocks, execute the following phases: 1) Initial approach phase (start at [0.486, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.458]). The trajectory involves 133 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_745", "trajectory_length": 133, "key_frame_indices": [ 0, 38, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_745.json" } }, { "id": "droid_molmo_sam2_episode_6439", "task": "Take the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6439/0000.jpg", "droid_molmo_sam2/images/episode_6439/0071.jpg", "droid_molmo_sam2/images/episode_6439/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.584, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.583, 0.727]). The trajectory involves 124 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6439", "trajectory_length": 124, "key_frame_indices": [ 0, 71, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6439.json" } }, { "id": "droid_molmo_sam2_episode_1634", "task": "Fold the blue towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1634/0000.jpg", "droid_molmo_sam2/images/episode_1634/0102.jpg", "droid_molmo_sam2/images/episode_1634/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the blue towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the blue towel, execute the following phases: 1) Initial approach phase (start at [0.486, 0.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.495]). The trajectory involves 139 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1634", "trajectory_length": 139, "key_frame_indices": [ 0, 102, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1634.json" } }, { "id": "droid_molmo_sam2_episode_30349", "task": "Move the cup from the right to the left side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30349/0000.jpg", "droid_molmo_sam2/images/episode_30349/0384.jpg", "droid_molmo_sam2/images/episode_30349/0477.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup from the right to the left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup from the right to the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.724, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.604]). The trajectory involves 478 precise waypoints with total movement distance of 1.605." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30349", "trajectory_length": 478, "key_frame_indices": [ 0, 384, 477 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30349.json" } }, { "id": "droid_molmo_sam2_episode_6521", "task": "Pour the contents in the bowl into the coffee cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6521/0000.jpg", "droid_molmo_sam2/images/episode_6521/0445.jpg", "droid_molmo_sam2/images/episode_6521/0481.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the bowl into the coffee cup.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the bowl into the coffee cup., execute the following phases: 1) Initial approach phase (start at [0.515, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.530]). The trajectory involves 482 precise waypoints with total movement distance of 2.306." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6521", "trajectory_length": 482, "key_frame_indices": [ 0, 445, 481 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6521.json" } }, { "id": "droid_molmo_sam2_episode_34426", "task": "Pick up the pencil from the countertop and slightly move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34426/0000.jpg", "droid_molmo_sam2/images/episode_34426/0082.jpg", "droid_molmo_sam2/images/episode_34426/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pencil from the countertop and slightly move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the pencil from the countertop and slightly move it to the right., execute the following phases: 1) Initial approach phase (start at [0.556, 0.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 0.364]). The trajectory involves 114 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34426", "trajectory_length": 114, "key_frame_indices": [ 0, 82, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34426.json" } }, { "id": "droid_molmo_sam2_episode_36781", "task": "Move the orange bowl backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36781/0000.jpg", "droid_molmo_sam2/images/episode_36781/0087.jpg", "droid_molmo_sam2/images/episode_36781/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the orange bowl backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the orange bowl backwards, execute the following phases: 1) Initial approach phase (start at [0.781, 0.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.682, 0.553]). The trajectory involves 144 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36781", "trajectory_length": 144, "key_frame_indices": [ 0, 87, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36781.json" } }, { "id": "droid_molmo_sam2_episode_31960", "task": "Move the blue towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31960/0000.jpg", "droid_molmo_sam2/images/episode_31960/0114.jpg", "droid_molmo_sam2/images/episode_31960/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue towel to the left, execute the following phases: 1) Initial approach phase (start at [0.575, 0.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.469]). The trajectory involves 151 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31960", "trajectory_length": 151, "key_frame_indices": [ 0, 114, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31960.json" } }, { "id": "droid_molmo_sam2_episode_32077", "task": "Put the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32077/0000.jpg", "droid_molmo_sam2/images/episode_32077/0051.jpg", "droid_molmo_sam2/images/episode_32077/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.413, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.532]). The trajectory involves 126 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32077", "trajectory_length": 126, "key_frame_indices": [ 0, 51, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32077.json" } }, { "id": "droid_molmo_sam2_episode_83", "task": "Take the blue marker out of the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_83/0000.jpg", "droid_molmo_sam2/images/episode_83/0136.jpg", "droid_molmo_sam2/images/episode_83/0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the blue marker out of the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the blue marker out of the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.740, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.526]). The trajectory involves 220 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_83", "trajectory_length": 220, "key_frame_indices": [ 0, 136, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_83.json" } }, { "id": "droid_molmo_sam2_episode_38124", "task": "Wipe the countertop with the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38124/0000.jpg", "droid_molmo_sam2/images/episode_38124/0422.jpg", "droid_molmo_sam2/images/episode_38124/0478.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the countertop with the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the countertop with the towel, execute the following phases: 1) Initial approach phase (start at [0.520, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.791]). The trajectory involves 479 precise waypoints with total movement distance of 3.133." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38124", "trajectory_length": 479, "key_frame_indices": [ 0, 422, 478 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38124.json" } }, { "id": "droid_molmo_sam2_episode_30420", "task": "Turn on the extension cable", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30420/0000.jpg", "droid_molmo_sam2/images/episode_30420/0174.jpg", "droid_molmo_sam2/images/episode_30420/0286.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn on the extension cable?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn on the extension cable, execute the following phases: 1) Initial approach phase (start at [0.838, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.842, 0.812]). The trajectory involves 287 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30420", "trajectory_length": 287, "key_frame_indices": [ 0, 174, 286 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30420.json" } }, { "id": "droid_molmo_sam2_episode_512", "task": "Move the carton box slightly to the center of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_512/0000.jpg", "droid_molmo_sam2/images/episode_512/0137.jpg", "droid_molmo_sam2/images/episode_512/0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the carton box slightly to the center of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the carton box slightly to the center of the table, execute the following phases: 1) Initial approach phase (start at [0.575, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.571]). The trajectory involves 204 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_512", "trajectory_length": 204, "key_frame_indices": [ 0, 137, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_512.json" } }, { "id": "droid_molmo_sam2_episode_3644", "task": "Close the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3644/0000.jpg", "droid_molmo_sam2/images/episode_3644/0468.jpg", "droid_molmo_sam2/images/episode_3644/0505.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the box, execute the following phases: 1) Initial approach phase (start at [0.424, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 506 precise waypoints with total movement distance of 3.972." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3644", "trajectory_length": 506, "key_frame_indices": [ 0, 468, 505 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3644.json" } }, { "id": "droid_molmo_sam2_episode_68", "task": "Pick up the pen and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_68/0000.jpg", "droid_molmo_sam2/images/episode_68/0110.jpg", "droid_molmo_sam2/images/episode_68/0255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.567, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 256 precise waypoints with total movement distance of 1.158." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_68", "trajectory_length": 256, "key_frame_indices": [ 0, 110, 255 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_68.json" } }, { "id": "droid_molmo_sam2_episode_7284", "task": "Put the rope along the center of the black object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7284/0000.jpg", "droid_molmo_sam2/images/episode_7284/0081.jpg", "droid_molmo_sam2/images/episode_7284/0217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rope along the center of the black object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rope along the center of the black object, execute the following phases: 1) Initial approach phase (start at [0.357, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.748]). The trajectory involves 218 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7284", "trajectory_length": 218, "key_frame_indices": [ 0, 81, 217 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7284.json" } }, { "id": "droid_molmo_sam2_episode_500", "task": "Pick the cloth on the table and put it on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_500/0000.jpg", "droid_molmo_sam2/images/episode_500/0170.jpg", "droid_molmo_sam2/images/episode_500/0339.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth on the table and put it on the black stand?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cloth on the table and put it on the black stand, execute the following phases: 1) Initial approach phase (start at [0.517, 0.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.157]). The trajectory involves 340 precise waypoints with total movement distance of 1.242." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_500", "trajectory_length": 340, "key_frame_indices": [ 0, 170, 339 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_500.json" } }, { "id": "droid_molmo_sam2_episode_3668", "task": "Move the clear plastic cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3668/0000.jpg", "droid_molmo_sam2/images/episode_3668/0063.jpg", "droid_molmo_sam2/images/episode_3668/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear plastic cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear plastic cup, execute the following phases: 1) Initial approach phase (start at [0.606, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.658]). The trajectory involves 143 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3668", "trajectory_length": 143, "key_frame_indices": [ 0, 63, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3668.json" } }, { "id": "droid_molmo_sam2_episode_30395", "task": "Fold the white towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30395/0000.jpg", "droid_molmo_sam2/images/episode_30395/0480.jpg", "droid_molmo_sam2/images/episode_30395/0588.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white towel, execute the following phases: 1) Initial approach phase (start at [0.512, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.477]). The trajectory involves 589 precise waypoints with total movement distance of 0.915." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30395", "trajectory_length": 589, "key_frame_indices": [ 0, 480, 588 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30395.json" } }, { "id": "droid_molmo_sam2_episode_36221", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36221/0000.jpg", "droid_molmo_sam2/images/episode_36221/0099.jpg", "droid_molmo_sam2/images/episode_36221/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.375, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.521, 0.685]). The trajectory involves 113 precise waypoints with total movement distance of 0.854." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36221", "trajectory_length": 113, "key_frame_indices": [ 0, 99, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36221.json" } }, { "id": "droid_molmo_sam2_episode_3146", "task": "Turn off the coffee maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3146/0000.jpg", "droid_molmo_sam2/images/episode_3146/0025.jpg", "droid_molmo_sam2/images/episode_3146/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the coffee maker?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn off the coffee maker, execute the following phases: 1) Initial approach phase (start at [0.551, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.511]). The trajectory involves 138 precise waypoints with total movement distance of 0.091." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3146", "trajectory_length": 138, "key_frame_indices": [ 0, 25, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3146.json" } }, { "id": "droid_molmo_sam2_episode_39854", "task": "Remove the dark blue and white cap from the pile of hats on the bed", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39854/0000.jpg", "droid_molmo_sam2/images/episode_39854/0126.jpg", "droid_molmo_sam2/images/episode_39854/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the dark blue and white cap from the pile of hats on the bed?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the dark blue and white cap from the pile of hats on the bed, execute the following phases: 1) Initial approach phase (start at [0.390, 0.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.805]). The trajectory involves 160 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39854", "trajectory_length": 160, "key_frame_indices": [ 0, 126, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39854.json" } }, { "id": "droid_molmo_sam2_episode_31811", "task": "Unfold the blue cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31811/0000.jpg", "droid_molmo_sam2/images/episode_31811/0122.jpg", "droid_molmo_sam2/images/episode_31811/0566.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the blue cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the blue cloth, execute the following phases: 1) Initial approach phase (start at [0.589, 0.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.625]). The trajectory involves 567 precise waypoints with total movement distance of 0.873." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31811", "trajectory_length": 567, "key_frame_indices": [ 0, 122, 566 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31811.json" } }, { "id": "droid_molmo_sam2_episode_4447", "task": "Take the lid off of the silver pot and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4447/0000.jpg", "droid_molmo_sam2/images/episode_4447/0135.jpg", "droid_molmo_sam2/images/episode_4447/0162.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?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid off of the silver pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.448, 0.958]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.883]). The trajectory involves 163 precise waypoints with total movement distance of 1.226." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4447", "trajectory_length": 163, "key_frame_indices": [ 0, 135, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4447.json" } }, { "id": "droid_molmo_sam2_episode_33200", "task": "Pick up the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33200/0000.jpg", "droid_molmo_sam2/images/episode_33200/0168.jpg", "droid_molmo_sam2/images/episode_33200/0179.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 [0.721, 0.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 0.458]). The trajectory involves 180 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33200", "trajectory_length": 180, "key_frame_indices": [ 0, 168, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33200.json" } }, { "id": "droid_molmo_sam2_episode_709", "task": "Place the marker inside the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_709/0000.jpg", "droid_molmo_sam2/images/episode_709/0177.jpg", "droid_molmo_sam2/images/episode_709/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker inside the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker inside the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.392, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.662]). The trajectory involves 196 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_709", "trajectory_length": 196, "key_frame_indices": [ 0, 177, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_709.json" } }, { "id": "droid_molmo_sam2_episode_35453", "task": "Unfold the grey towel.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35453/0000.jpg", "droid_molmo_sam2/images/episode_35453/0371.jpg", "droid_molmo_sam2/images/episode_35453/0636.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the grey towel.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the grey towel., execute the following phases: 1) Initial approach phase (start at [0.693, 0.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.571]). The trajectory involves 637 precise waypoints with total movement distance of 1.040." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35453", "trajectory_length": 637, "key_frame_indices": [ 0, 371, 636 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35453.json" } }, { "id": "droid_molmo_sam2_episode_38071", "task": "Put the snack bar in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38071/0000.jpg", "droid_molmo_sam2/images/episode_38071/0135.jpg", "droid_molmo_sam2/images/episode_38071/0368.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack bar in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack bar in the sink, execute the following phases: 1) Initial approach phase (start at [0.345, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.921]). The trajectory involves 369 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38071", "trajectory_length": 369, "key_frame_indices": [ 0, 135, 368 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38071.json" } }, { "id": "droid_molmo_sam2_episode_743", "task": "Take the red marker out of the green mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_743/0000.jpg", "droid_molmo_sam2/images/episode_743/0294.jpg", "droid_molmo_sam2/images/episode_743/0317.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_molmo_sam2 manipulation: Take the red marker out of the green mug., execute the following phases: 1) Initial approach phase (start at [0.390, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.927]). The trajectory involves 318 precise waypoints with total movement distance of 1.752." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_743", "trajectory_length": 318, "key_frame_indices": [ 0, 294, 317 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_743.json" } }, { "id": "droid_molmo_sam2_episode_32126", "task": "Pick up the marker and put it in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32126/0000.jpg", "droid_molmo_sam2/images/episode_32126/0175.jpg", "droid_molmo_sam2/images/episode_32126/0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the mug?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the mug, execute the following phases: 1) Initial approach phase (start at [0.695, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.795, 0.589]). The trajectory involves 240 precise waypoints with total movement distance of 1.537." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32126", "trajectory_length": 240, "key_frame_indices": [ 0, 175, 239 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32126.json" } }, { "id": "droid_molmo_sam2_episode_34896", "task": "Pick the pen on the table and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34896/0000.jpg", "droid_molmo_sam2/images/episode_34896/0210.jpg", "droid_molmo_sam2/images/episode_34896/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.805, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.945, 0.082]). The trajectory involves 225 precise waypoints with total movement distance of 1.328." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34896", "trajectory_length": 225, "key_frame_indices": [ 0, 210, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34896.json" } }, { "id": "droid_molmo_sam2_episode_4177", "task": "Put the ropes inside the box.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4177/0000.jpg", "droid_molmo_sam2/images/episode_4177/0326.jpg", "droid_molmo_sam2/images/episode_4177/0560.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the ropes inside the box.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the ropes inside the box., execute the following phases: 1) Initial approach phase (start at [0.536, 0.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 561 precise waypoints with total movement distance of 1.378." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4177", "trajectory_length": 561, "key_frame_indices": [ 0, 326, 560 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4177.json" } }, { "id": "droid_molmo_sam2_episode_34601", "task": "Place the spatula inside the jar", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34601/0000.jpg", "droid_molmo_sam2/images/episode_34601/0137.jpg", "droid_molmo_sam2/images/episode_34601/0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the spatula inside the jar?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the spatula inside the jar, execute the following phases: 1) Initial approach phase (start at [0.621, 0.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.627]). The trajectory involves 235 precise waypoints with total movement distance of 1.057." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34601", "trajectory_length": 235, "key_frame_indices": [ 0, 137, 234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34601.json" } }, { "id": "droid_molmo_sam2_episode_6810", "task": "Put the packet on the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6810/0000.jpg", "droid_molmo_sam2/images/episode_6810/0136.jpg", "droid_molmo_sam2/images/episode_6810/0289.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the packet on the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the packet on the shelf, execute the following phases: 1) Initial approach phase (start at [0.238, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.271]). The trajectory involves 290 precise waypoints with total movement distance of 0.941." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6810", "trajectory_length": 290, "key_frame_indices": [ 0, 136, 289 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6810.json" } }, { "id": "droid_molmo_sam2_episode_32853", "task": "Remove the red shirt from the right drawer and put it in the left drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32853/0000.jpg", "droid_molmo_sam2/images/episode_32853/0012.jpg", "droid_molmo_sam2/images/episode_32853/0484.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the red shirt from the right drawer and put it in the left drawer?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red shirt from the right drawer and put it in the left drawer, execute the following phases: 1) Initial approach phase (start at [0.599, 0.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.352]). The trajectory involves 485 precise waypoints with total movement distance of 2.553." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32853", "trajectory_length": 485, "key_frame_indices": [ 0, 12, 484 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32853.json" } }, { "id": "droid_molmo_sam2_episode_655", "task": "Move the brown doll to the pink bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_655/0000.jpg", "droid_molmo_sam2/images/episode_655/0167.jpg", "droid_molmo_sam2/images/episode_655/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brown doll to the pink bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brown doll to the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.875, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 230 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_655", "trajectory_length": 230, "key_frame_indices": [ 0, 167, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_655.json" } }, { "id": "droid_molmo_sam2_episode_216", "task": "Pick up the two cans on the right and put them inside the bin one by one", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_216/0000.jpg", "droid_molmo_sam2/images/episode_216/0098.jpg", "droid_molmo_sam2/images/episode_216/0329.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the two cans on the right and put them inside the bin one by one?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the two cans on the right and put them inside the bin one by one, execute the following phases: 1) Initial approach phase (start at [0.672, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.597]). The trajectory involves 330 precise waypoints with total movement distance of 1.835." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_216", "trajectory_length": 330, "key_frame_indices": [ 0, 98, 329 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_216.json" } }, { "id": "droid_molmo_sam2_episode_3801", "task": "Put the red marker inside the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3801/0000.jpg", "droid_molmo_sam2/images/episode_3801/0245.jpg", "droid_molmo_sam2/images/episode_3801/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker inside the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red marker inside the mug, execute the following phases: 1) Initial approach phase (start at [0.627, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.359]). The trajectory involves 250 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3801", "trajectory_length": 250, "key_frame_indices": [ 0, 245, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3801.json" } }, { "id": "droid_molmo_sam2_episode_2927", "task": "Remove the orange shirt from the backrest of the black chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2927/0000.jpg", "droid_molmo_sam2/images/episode_2927/0147.jpg", "droid_molmo_sam2/images/episode_2927/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the orange shirt from the backrest of the black chair?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the orange shirt from the backrest of the black chair, execute the following phases: 1) Initial approach phase (start at [0.530, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.706]). The trajectory involves 226 precise waypoints with total movement distance of 1.060." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2927", "trajectory_length": 226, "key_frame_indices": [ 0, 147, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2927.json" } }, { "id": "droid_molmo_sam2_episode_3142", "task": "Remove the potato chips from the plate and put them in the green cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3142/0000.jpg", "droid_molmo_sam2/images/episode_3142/0236.jpg", "droid_molmo_sam2/images/episode_3142/0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the potato chips from the plate and put them in the green cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the potato chips from the plate and put them in the green cup, execute the following phases: 1) Initial approach phase (start at [0.653, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.634]). The trajectory involves 343 precise waypoints with total movement distance of 3.164." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3142", "trajectory_length": 343, "key_frame_indices": [ 0, 236, 342 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3142.json" } }, { "id": "droid_molmo_sam2_episode_33267", "task": "Hang the coat hangers on the rod", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33267/0000.jpg", "droid_molmo_sam2/images/episode_33267/0256.jpg", "droid_molmo_sam2/images/episode_33267/0527.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the coat hangers on the rod?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the coat hangers on the rod, execute the following phases: 1) Initial approach phase (start at [0.922, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.074]). The trajectory involves 528 precise waypoints with total movement distance of 6.623." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33267", "trajectory_length": 528, "key_frame_indices": [ 0, 256, 527 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33267.json" } }, { "id": "droid_molmo_sam2_episode_39945", "task": "Move the mug to the left, then the right, then back to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39945/0000.jpg", "droid_molmo_sam2/images/episode_39945/0263.jpg", "droid_molmo_sam2/images/episode_39945/0282.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left, then the right, then back to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, then the right, then back to the left, execute the following phases: 1) Initial approach phase (start at [0.600, 0.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.428]). The trajectory involves 283 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39945", "trajectory_length": 283, "key_frame_indices": [ 0, 263, 282 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39945.json" } }, { "id": "droid_molmo_sam2_episode_38272", "task": "Pick the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38272/0000.jpg", "droid_molmo_sam2/images/episode_38272/0191.jpg", "droid_molmo_sam2/images/episode_38272/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the bowl and put 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, execute the following phases: 1) Initial approach phase (start at [0.522, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.590]). The trajectory involves 222 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38272", "trajectory_length": 222, "key_frame_indices": [ 0, 191, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38272.json" } }, { "id": "droid_molmo_sam2_episode_3994", "task": "Attach the discs on the table to the wooden rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3994/0000.jpg", "droid_molmo_sam2/images/episode_3994/0001.jpg", "droid_molmo_sam2/images/episode_3994/3074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Attach the discs on the table to the wooden rack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Attach the discs on the table to the wooden rack, execute the following phases: 1) Initial approach phase (start at [0.653, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.763]). The trajectory involves 3075 precise waypoints with total movement distance of 0.000." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3994", "trajectory_length": 3075, "key_frame_indices": [ 0, 1, 3074 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3994.json" } }, { "id": "droid_molmo_sam2_episode_4304", "task": "Empty the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4304/0000.jpg", "droid_molmo_sam2/images/episode_4304/0051.jpg", "droid_molmo_sam2/images/episode_4304/0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Empty the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Empty the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.558, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.548]). The trajectory involves 115 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4304", "trajectory_length": 115, "key_frame_indices": [ 0, 51, 114 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4304.json" } }, { "id": "droid_molmo_sam2_episode_32821", "task": "Pick up all the clothes from the table and put them on the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32821/0000.jpg", "droid_molmo_sam2/images/episode_32821/0286.jpg", "droid_molmo_sam2/images/episode_32821/1228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up all the clothes from the table and put them on the chair.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up all the clothes from the table and put them on the chair., execute the following phases: 1) Initial approach phase (start at [0.565, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.876]). The trajectory involves 1229 precise waypoints with total movement distance of 3.345." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32821", "trajectory_length": 1229, "key_frame_indices": [ 0, 286, 1228 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32821.json" } }, { "id": "droid_molmo_sam2_episode_6033", "task": "Pick the cloth and hang it on the object", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6033/0000.jpg", "droid_molmo_sam2/images/episode_6033/0101.jpg", "droid_molmo_sam2/images/episode_6033/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth and hang it on the object?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the cloth and hang it on the object, execute the following phases: 1) Initial approach phase (start at [0.170, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.056, 0.833]). The trajectory involves 162 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6033", "trajectory_length": 162, "key_frame_indices": [ 0, 101, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6033.json" } }, { "id": "droid_molmo_sam2_episode_35505", "task": "Left click the mouse", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35505/0000.jpg", "droid_molmo_sam2/images/episode_35505/0081.jpg", "droid_molmo_sam2/images/episode_35505/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Left click the mouse?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Left click the mouse, execute the following phases: 1) Initial approach phase (start at [0.664, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.826]). The trajectory involves 131 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35505", "trajectory_length": 131, "key_frame_indices": [ 0, 81, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35505.json" } }, { "id": "droid_molmo_sam2_episode_30041", "task": "Put the snack bar in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30041/0000.jpg", "droid_molmo_sam2/images/episode_30041/0252.jpg", "droid_molmo_sam2/images/episode_30041/0380.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack bar in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack bar in the sink, execute the following phases: 1) Initial approach phase (start at [0.315, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.983]). The trajectory involves 381 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30041", "trajectory_length": 381, "key_frame_indices": [ 0, 252, 380 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30041.json" } }, { "id": "droid_molmo_sam2_episode_6586", "task": "Put the green marker inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6586/0000.jpg", "droid_molmo_sam2/images/episode_6586/0144.jpg", "droid_molmo_sam2/images/episode_6586/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.429, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.681]). The trajectory involves 176 precise waypoints with total movement distance of 0.720." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6586", "trajectory_length": 176, "key_frame_indices": [ 0, 144, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6586.json" } }, { "id": "droid_molmo_sam2_episode_31176", "task": "Get the marker from the white bowl and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31176/0000.jpg", "droid_molmo_sam2/images/episode_31176/0143.jpg", "droid_molmo_sam2/images/episode_31176/0210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the marker from the white bowl and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the marker from the white bowl and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.528, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.649]). The trajectory involves 211 precise waypoints with total movement distance of 0.891." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31176", "trajectory_length": 211, "key_frame_indices": [ 0, 143, 210 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31176.json" } }, { "id": "droid_molmo_sam2_episode_264", "task": "Pick up the white cloth and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_264/0000.jpg", "droid_molmo_sam2/images/episode_264/0092.jpg", "droid_molmo_sam2/images/episode_264/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white cloth and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the white cloth and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.508, 0.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.886]). The trajectory involves 106 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_264", "trajectory_length": 106, "key_frame_indices": [ 0, 92, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_264.json" } }, { "id": "droid_molmo_sam2_episode_30778", "task": "Put the white towel in the black box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30778/0000.jpg", "droid_molmo_sam2/images/episode_30778/0480.jpg", "droid_molmo_sam2/images/episode_30778/0674.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel in the black box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel in the black box, execute the following phases: 1) Initial approach phase (start at [0.432, 0.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 675 precise waypoints with total movement distance of 1.767." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30778", "trajectory_length": 675, "key_frame_indices": [ 0, 480, 674 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30778.json" } }, { "id": "droid_molmo_sam2_episode_7441", "task": "Take the marker out of the cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7441/0000.jpg", "droid_molmo_sam2/images/episode_7441/0092.jpg", "droid_molmo_sam2/images/episode_7441/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.493, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.516]). The trajectory involves 122 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7441", "trajectory_length": 122, "key_frame_indices": [ 0, 92, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7441.json" } }, { "id": "droid_molmo_sam2_episode_124", "task": "Pick up the ropes from the table and put them in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_124/0000.jpg", "droid_molmo_sam2/images/episode_124/0495.jpg", "droid_molmo_sam2/images/episode_124/0561.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the ropes from the table and put them in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the ropes from the table and put them in the box, execute the following phases: 1) Initial approach phase (start at [0.566, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 562 precise waypoints with total movement distance of 1.691." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_124", "trajectory_length": 562, "key_frame_indices": [ 0, 495, 561 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_124.json" } }, { "id": "droid_molmo_sam2_episode_30723", "task": "Use the towel to wipe the surface", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30723/0000.jpg", "droid_molmo_sam2/images/episode_30723/0122.jpg", "droid_molmo_sam2/images/episode_30723/0310.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the surface?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the surface, execute the following phases: 1) Initial approach phase (start at [0.397, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.274, 0.772]). The trajectory involves 311 precise waypoints with total movement distance of 4.472." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30723", "trajectory_length": 311, "key_frame_indices": [ 0, 122, 310 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30723.json" } }, { "id": "droid_molmo_sam2_episode_4709", "task": "Push the faucet handle upwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4709/0000.jpg", "droid_molmo_sam2/images/episode_4709/0177.jpg", "droid_molmo_sam2/images/episode_4709/0211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet handle upwards?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet handle upwards, execute the following phases: 1) Initial approach phase (start at [0.563, 0.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.318]). The trajectory involves 212 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4709", "trajectory_length": 212, "key_frame_indices": [ 0, 177, 211 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4709.json" } }, { "id": "droid_molmo_sam2_episode_32878", "task": "Move the pen from the table and place it in the yellow cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32878/0000.jpg", "droid_molmo_sam2/images/episode_32878/0142.jpg", "droid_molmo_sam2/images/episode_32878/0225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pen from the table and place it in the yellow cup?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pen from the table and place it in the yellow cup, execute the following phases: 1) Initial approach phase (start at [0.617, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.444]). The trajectory involves 226 precise waypoints with total movement distance of 0.676." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32878", "trajectory_length": 226, "key_frame_indices": [ 0, 142, 225 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32878.json" } }, { "id": "droid_molmo_sam2_episode_7164", "task": "Pick up the black cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7164/0000.jpg", "droid_molmo_sam2/images/episode_7164/0132.jpg", "droid_molmo_sam2/images/episode_7164/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.555, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.892]). The trajectory involves 196 precise waypoints with total movement distance of 0.976." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7164", "trajectory_length": 196, "key_frame_indices": [ 0, 132, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7164.json" } }, { "id": "droid_molmo_sam2_episode_81", "task": "Remove the red cup from the dishwasher and put it in the black lunchbox in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_81/0000.jpg", "droid_molmo_sam2/images/episode_81/0236.jpg", "droid_molmo_sam2/images/episode_81/0505.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red cup from the dishwasher and put it in the black lunchbox in the sink, execute the following phases: 1) Initial approach phase (start at [0.497, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.663]). The trajectory involves 506 precise waypoints with total movement distance of 1.728." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_81", "trajectory_length": 506, "key_frame_indices": [ 0, 236, 505 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_81.json" } }, { "id": "droid_molmo_sam2_episode_33901", "task": "Put the snack pack into the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33901/0000.jpg", "droid_molmo_sam2/images/episode_33901/0155.jpg", "droid_molmo_sam2/images/episode_33901/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack pack into the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack pack into the sink, execute the following phases: 1) Initial approach phase (start at [0.365, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.961]). The trajectory involves 219 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33901", "trajectory_length": 219, "key_frame_indices": [ 0, 155, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33901.json" } }, { "id": "droid_molmo_sam2_episode_3030", "task": "Pick up the kitchen paper and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3030/0000.jpg", "droid_molmo_sam2/images/episode_3030/0138.jpg", "droid_molmo_sam2/images/episode_3030/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the kitchen paper and put it on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the kitchen paper and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.605, 0.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.585]). The trajectory involves 181 precise waypoints with total movement distance of 0.960." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3030", "trajectory_length": 181, "key_frame_indices": [ 0, 138, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3030.json" } }, { "id": "droid_molmo_sam2_episode_33520", "task": "Put the sharpie in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33520/0000.jpg", "droid_molmo_sam2/images/episode_33520/0037.jpg", "droid_molmo_sam2/images/episode_33520/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sharpie in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the sharpie in the mug, execute the following phases: 1) Initial approach phase (start at [0.453, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 114 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33520", "trajectory_length": 114, "key_frame_indices": [ 0, 37, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33520.json" } }, { "id": "droid_molmo_sam2_episode_36722", "task": "Place the towel in the black box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36722/0000.jpg", "droid_molmo_sam2/images/episode_36722/0549.jpg", "droid_molmo_sam2/images/episode_36722/0655.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the towel in the black box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the towel in the black box, execute the following phases: 1) Initial approach phase (start at [0.242, 0.869]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.664]). The trajectory involves 656 precise waypoints with total movement distance of 1.964." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36722", "trajectory_length": 656, "key_frame_indices": [ 0, 549, 655 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36722.json" } }, { "id": "droid_molmo_sam2_episode_3528", "task": "Move the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3528/0000.jpg", "droid_molmo_sam2/images/episode_3528/0064.jpg", "droid_molmo_sam2/images/episode_3528/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap, execute the following phases: 1) Initial approach phase (start at [0.474, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.533]). The trajectory involves 98 precise waypoints with total movement distance of 0.133." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3528", "trajectory_length": 98, "key_frame_indices": [ 0, 64, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3528.json" } }, { "id": "droid_molmo_sam2_episode_4617", "task": "Pick up the pen and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4617/0000.jpg", "droid_molmo_sam2/images/episode_4617/0114.jpg", "droid_molmo_sam2/images/episode_4617/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.622, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.780, 0.689]). The trajectory involves 129 precise waypoints with total movement distance of 0.799." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4617", "trajectory_length": 129, "key_frame_indices": [ 0, 114, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4617.json" } }, { "id": "droid_molmo_sam2_episode_4362", "task": "Wipe the table with the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4362/0000.jpg", "droid_molmo_sam2/images/episode_4362/0171.jpg", "droid_molmo_sam2/images/episode_4362/0275.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the towel, execute the following phases: 1) Initial approach phase (start at [0.674, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.592]). The trajectory involves 276 precise waypoints with total movement distance of 2.015." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4362", "trajectory_length": 276, "key_frame_indices": [ 0, 171, 275 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4362.json" } }, { "id": "droid_molmo_sam2_episode_31816", "task": "Move the red bowl to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31816/0000.jpg", "droid_molmo_sam2/images/episode_31816/0060.jpg", "droid_molmo_sam2/images/episode_31816/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red bowl to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red bowl to the left, execute the following phases: 1) Initial approach phase (start at [0.562, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.679]). The trajectory involves 119 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31816", "trajectory_length": 119, "key_frame_indices": [ 0, 60, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31816.json" } }, { "id": "droid_molmo_sam2_episode_463", "task": "Move the bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_463/0000.jpg", "droid_molmo_sam2/images/episode_463/0192.jpg", "droid_molmo_sam2/images/episode_463/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.595, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.313]). The trajectory involves 199 precise waypoints with total movement distance of 0.905." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_463", "trajectory_length": 199, "key_frame_indices": [ 0, 192, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_463.json" } }, { "id": "droid_molmo_sam2_episode_1910", "task": "Move the green towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1910/0000.jpg", "droid_molmo_sam2/images/episode_1910/0078.jpg", "droid_molmo_sam2/images/episode_1910/0111.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 [0.569, 0.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.400]). The trajectory involves 112 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1910", "trajectory_length": 112, "key_frame_indices": [ 0, 78, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1910.json" } }, { "id": "droid_molmo_sam2_episode_30930", "task": "Put the screw driver in the tool box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30930/0000.jpg", "droid_molmo_sam2/images/episode_30930/0146.jpg", "droid_molmo_sam2/images/episode_30930/0342.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the screw driver in the tool box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the screw driver in the tool box, execute the following phases: 1) Initial approach phase (start at [0.658, 0.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.422]). The trajectory involves 343 precise waypoints with total movement distance of 1.518." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30930", "trajectory_length": 343, "key_frame_indices": [ 0, 146, 342 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30930.json" } }, { "id": "droid_molmo_sam2_episode_1501", "task": "Put the white lid on the clear container and then press the button atop the lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1501/0000.jpg", "droid_molmo_sam2/images/episode_1501/0240.jpg", "droid_molmo_sam2/images/episode_1501/0489.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white lid on the clear container and then press the button atop the lid?" }, { "from": "gpt", "value": "To complete this button/switch activation: Put the white lid on the clear container and then press the button atop the lid, execute the following phases: 1) Initial approach phase (start at [0.735, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.539]). The trajectory involves 490 precise waypoints with total movement distance of 1.343." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1501", "trajectory_length": 490, "key_frame_indices": [ 0, 240, 489 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1501.json" } }, { "id": "droid_molmo_sam2_episode_4234", "task": "Fold the towel twice", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4234/0000.jpg", "droid_molmo_sam2/images/episode_4234/0480.jpg", "droid_molmo_sam2/images/episode_4234/0570.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel twice?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel twice, execute the following phases: 1) Initial approach phase (start at [0.599, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.587]). The trajectory involves 571 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4234", "trajectory_length": 571, "key_frame_indices": [ 0, 480, 570 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4234.json" } }, { "id": "droid_molmo_sam2_episode_31099", "task": "Open the cupboard fully", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31099/0000.jpg", "droid_molmo_sam2/images/episode_31099/0081.jpg", "droid_molmo_sam2/images/episode_31099/0428.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cupboard fully?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cupboard fully, execute the following phases: 1) Initial approach phase (start at [0.555, 0.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.123]). The trajectory involves 429 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31099", "trajectory_length": 429, "key_frame_indices": [ 0, 81, 428 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31099.json" } }, { "id": "droid_molmo_sam2_episode_3192", "task": "Place the red straw in the can", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3192/0000.jpg", "droid_molmo_sam2/images/episode_3192/0530.jpg", "droid_molmo_sam2/images/episode_3192/0571.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the red straw in the can?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the red straw in the can, execute the following phases: 1) Initial approach phase (start at [0.634, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.084]). The trajectory involves 572 precise waypoints with total movement distance of 2.352." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3192", "trajectory_length": 572, "key_frame_indices": [ 0, 530, 571 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3192.json" } }, { "id": "droid_molmo_sam2_episode_2759", "task": "Move the masking tape closer to the board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2759/0000.jpg", "droid_molmo_sam2/images/episode_2759/0139.jpg", "droid_molmo_sam2/images/episode_2759/0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the masking tape closer to the board?" }, { "from": "gpt", "value": "To complete this repositioning: Move the masking tape closer to the board, execute the following phases: 1) Initial approach phase (start at [0.446, 0.947]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.640]). The trajectory involves 295 precise waypoints with total movement distance of 1.198." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2759", "trajectory_length": 295, "key_frame_indices": [ 0, 139, 294 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2759.json" } }, { "id": "droid_molmo_sam2_episode_30871", "task": "Align the orange objects in front of each other", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30871/0000.jpg", "droid_molmo_sam2/images/episode_30871/0079.jpg", "droid_molmo_sam2/images/episode_30871/0357.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Align the orange objects in front of each other?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Align the orange objects in front of each other, execute the following phases: 1) Initial approach phase (start at [0.571, 0.906]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.791]). The trajectory involves 358 precise waypoints with total movement distance of 1.004." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30871", "trajectory_length": 358, "key_frame_indices": [ 0, 79, 357 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30871.json" } }, { "id": "droid_molmo_sam2_episode_30404", "task": "Use the towel to wipe the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30404/0000.jpg", "droid_molmo_sam2/images/episode_30404/0281.jpg", "droid_molmo_sam2/images/episode_30404/0318.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the plate, execute the following phases: 1) Initial approach phase (start at [0.495, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.488]). The trajectory involves 319 precise waypoints with total movement distance of 0.889." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30404", "trajectory_length": 319, "key_frame_indices": [ 0, 281, 318 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30404.json" } }, { "id": "droid_molmo_sam2_episode_1496", "task": "Pick up all the objects on the table and put them on the plastic", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1496/0000.jpg", "droid_molmo_sam2/images/episode_1496/0347.jpg", "droid_molmo_sam2/images/episode_1496/0870.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up all the objects on the table and put them on the plastic?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up all the objects on the table and put them on the plastic, execute the following phases: 1) Initial approach phase (start at [0.587, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.513]). The trajectory involves 871 precise waypoints with total movement distance of 6.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1496", "trajectory_length": 871, "key_frame_indices": [ 0, 347, 870 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1496.json" } }, { "id": "droid_molmo_sam2_episode_7023", "task": "Pick up the pot, then put it in the open cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7023/0000.jpg", "droid_molmo_sam2/images/episode_7023/0134.jpg", "droid_molmo_sam2/images/episode_7023/0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pot, then put it in the open cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pot, then put it in the open cabinet, execute the following phases: 1) Initial approach phase (start at [0.335, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.172]). The trajectory involves 298 precise waypoints with total movement distance of 1.352." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7023", "trajectory_length": 298, "key_frame_indices": [ 0, 134, 297 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7023.json" } }, { "id": "droid_molmo_sam2_episode_38638", "task": "Slide the blue towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38638/0000.jpg", "droid_molmo_sam2/images/episode_38638/0211.jpg", "droid_molmo_sam2/images/episode_38638/0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the blue towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the blue towel to the left, execute the following phases: 1) Initial approach phase (start at [0.591, 0.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.540]). The trajectory involves 282 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38638", "trajectory_length": 282, "key_frame_indices": [ 0, 211, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38638.json" } }, { "id": "droid_molmo_sam2_episode_2350", "task": "Move the cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2350/0000.jpg", "droid_molmo_sam2/images/episode_2350/0066.jpg", "droid_molmo_sam2/images/episode_2350/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup to the left, execute the following phases: 1) Initial approach phase (start at [0.544, 0.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.590]). The trajectory involves 104 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2350", "trajectory_length": 104, "key_frame_indices": [ 0, 66, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2350.json" } }, { "id": "droid_molmo_sam2_episode_2164", "task": "Pick up the peach toy from the table and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2164/0000.jpg", "droid_molmo_sam2/images/episode_2164/0075.jpg", "droid_molmo_sam2/images/episode_2164/0128.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 [0.289, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.670, 0.767]). The trajectory involves 129 precise waypoints with total movement distance of 1.051." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2164", "trajectory_length": 129, "key_frame_indices": [ 0, 75, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2164.json" } }, { "id": "droid_molmo_sam2_episode_7118", "task": "Put the orange marker in the red mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7118/0000.jpg", "droid_molmo_sam2/images/episode_7118/0069.jpg", "droid_molmo_sam2/images/episode_7118/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker in the red mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange marker in the red mug, execute the following phases: 1) Initial approach phase (start at [0.730, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.502]). The trajectory involves 120 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7118", "trajectory_length": 120, "key_frame_indices": [ 0, 69, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7118.json" } }, { "id": "droid_molmo_sam2_episode_34017", "task": "Close the bottom drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34017/0000.jpg", "droid_molmo_sam2/images/episode_34017/0060.jpg", "droid_molmo_sam2/images/episode_34017/0068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer, execute the following phases: 1) Initial approach phase (start at [0.492, 0.929]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.945]). The trajectory involves 69 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34017", "trajectory_length": 69, "key_frame_indices": [ 0, 60, 68 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34017.json" } }, { "id": "droid_molmo_sam2_episode_3203", "task": "Pick up the pen from the table and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3203/0000.jpg", "droid_molmo_sam2/images/episode_3203/0146.jpg", "droid_molmo_sam2/images/episode_3203/0256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.633, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.262]). The trajectory involves 257 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3203", "trajectory_length": 257, "key_frame_indices": [ 0, 146, 256 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3203.json" } }, { "id": "droid_molmo_sam2_episode_30029", "task": "Take the marker and place it in the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30029/0000.jpg", "droid_molmo_sam2/images/episode_30029/0088.jpg", "droid_molmo_sam2/images/episode_30029/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker and place it in the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker and place it in the white bowl, execute the following phases: 1) Initial approach phase (start at [0.587, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.472]). The trajectory involves 135 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30029", "trajectory_length": 135, "key_frame_indices": [ 0, 88, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30029.json" } }, { "id": "droid_molmo_sam2_episode_38181", "task": "Fold the towel in half and then slide it to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38181/0000.jpg", "droid_molmo_sam2/images/episode_38181/0252.jpg", "droid_molmo_sam2/images/episode_38181/0291.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel in half and then slide it to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Fold the towel in half and then slide it to the right, execute the following phases: 1) Initial approach phase (start at [0.515, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.650]). The trajectory involves 292 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38181", "trajectory_length": 292, "key_frame_indices": [ 0, 252, 291 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38181.json" } }, { "id": "droid_molmo_sam2_episode_222", "task": "Put the marker on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_222/0000.jpg", "droid_molmo_sam2/images/episode_222/0140.jpg", "droid_molmo_sam2/images/episode_222/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the counter, execute the following phases: 1) Initial approach phase (start at [0.620, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 0.920]). The trajectory involves 156 precise waypoints with total movement distance of 0.910." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_222", "trajectory_length": 156, "key_frame_indices": [ 0, 140, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_222.json" } }, { "id": "droid_molmo_sam2_episode_30917", "task": "Move the light gray hat to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30917/0000.jpg", "droid_molmo_sam2/images/episode_30917/0183.jpg", "droid_molmo_sam2/images/episode_30917/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the light gray hat to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the light gray hat to the left, execute the following phases: 1) Initial approach phase (start at [0.682, 0.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.542]). The trajectory involves 190 precise waypoints with total movement distance of 1.039." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30917", "trajectory_length": 190, "key_frame_indices": [ 0, 183, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30917.json" } }, { "id": "droid_molmo_sam2_episode_4078", "task": "Pick up the orange object tool and put it on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4078/0000.jpg", "droid_molmo_sam2/images/episode_4078/0136.jpg", "droid_molmo_sam2/images/episode_4078/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object tool and put it on the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange object tool and put it on the bowl, execute the following phases: 1) Initial approach phase (start at [0.709, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.757, 0.787]). The trajectory involves 148 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4078", "trajectory_length": 148, "key_frame_indices": [ 0, 136, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4078.json" } }, { "id": "droid_molmo_sam2_episode_34845", "task": "Take the orange legos from the wood and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34845/0000.jpg", "droid_molmo_sam2/images/episode_34845/0100.jpg", "droid_molmo_sam2/images/episode_34845/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange legos from the wood and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the orange legos from the wood and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.658, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.523, 0.719]). The trajectory involves 121 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34845", "trajectory_length": 121, "key_frame_indices": [ 0, 100, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34845.json" } }, { "id": "droid_molmo_sam2_episode_3884", "task": "Rotate the marker on the table to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3884/0000.jpg", "droid_molmo_sam2/images/episode_3884/0096.jpg", "droid_molmo_sam2/images/episode_3884/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Rotate the marker on the table to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Rotate the marker on the table to the left, execute the following phases: 1) Initial approach phase (start at [0.761, 0.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.447]). The trajectory involves 129 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3884", "trajectory_length": 129, "key_frame_indices": [ 0, 96, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3884.json" } }, { "id": "droid_molmo_sam2_episode_2919", "task": "Change the position of the toy kettle slightly anti-clockwise", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2919/0000.jpg", "droid_molmo_sam2/images/episode_2919/0180.jpg", "droid_molmo_sam2/images/episode_2919/0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Change the position of the toy kettle slightly anti-clockwise?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Change the position of the toy kettle slightly anti-clockwise, execute the following phases: 1) Initial approach phase (start at [0.552, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.811]). The trajectory involves 282 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2919", "trajectory_length": 282, "key_frame_indices": [ 0, 180, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2919.json" } }, { "id": "droid_molmo_sam2_episode_6611", "task": "Move the tap nozzle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6611/0000.jpg", "droid_molmo_sam2/images/episode_6611/0077.jpg", "droid_molmo_sam2/images/episode_6611/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap nozzle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap nozzle to the right, execute the following phases: 1) Initial approach phase (start at [0.497, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.504]). The trajectory involves 222 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6611", "trajectory_length": 222, "key_frame_indices": [ 0, 77, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6611.json" } }, { "id": "droid_molmo_sam2_episode_359", "task": "Take the pen and put it near the light blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_359/0000.jpg", "droid_molmo_sam2/images/episode_359/0071.jpg", "droid_molmo_sam2/images/episode_359/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen and put it near the light blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen and put it near the light blue bowl, execute the following phases: 1) Initial approach phase (start at [0.439, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.940]). The trajectory involves 178 precise waypoints with total movement distance of 1.017." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_359", "trajectory_length": 178, "key_frame_indices": [ 0, 71, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_359.json" } }, { "id": "droid_molmo_sam2_episode_37460", "task": "Place the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37460/0000.jpg", "droid_molmo_sam2/images/episode_37460/0080.jpg", "droid_molmo_sam2/images/episode_37460/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.643, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.612]). The trajectory involves 123 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37460", "trajectory_length": 123, "key_frame_indices": [ 0, 80, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37460.json" } }, { "id": "droid_molmo_sam2_episode_36412", "task": "Remove the white object from the drawer and put it on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36412/0000.jpg", "droid_molmo_sam2/images/episode_36412/0158.jpg", "droid_molmo_sam2/images/episode_36412/0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the white object from the drawer and put it on the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the white object from the drawer and put it on the countertop, execute the following phases: 1) Initial approach phase (start at [0.896, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.745]). The trajectory involves 161 precise waypoints with total movement distance of 1.111." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36412", "trajectory_length": 161, "key_frame_indices": [ 0, 158, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36412.json" } }, { "id": "droid_molmo_sam2_episode_34616", "task": "Move the towel to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34616/0000.jpg", "droid_molmo_sam2/images/episode_34616/0062.jpg", "droid_molmo_sam2/images/episode_34616/0073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel to the right, execute the following phases: 1) Initial approach phase (start at [0.552, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.646, 0.730]). The trajectory involves 74 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34616", "trajectory_length": 74, "key_frame_indices": [ 0, 62, 73 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34616.json" } }, { "id": "droid_molmo_sam2_episode_3126", "task": "Put the marker in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3126/0000.jpg", "droid_molmo_sam2/images/episode_3126/0001.jpg", "droid_molmo_sam2/images/episode_3126/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the cup, 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 [0.637, 0.691]). The trajectory involves 131 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3126", "trajectory_length": 131, "key_frame_indices": [ 0, 1, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3126.json" } }, { "id": "droid_molmo_sam2_episode_38112", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38112/0000.jpg", "droid_molmo_sam2/images/episode_38112/0054.jpg", "droid_molmo_sam2/images/episode_38112/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.413, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.532]). The trajectory involves 104 precise waypoints with total movement distance of 0.640." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38112", "trajectory_length": 104, "key_frame_indices": [ 0, 54, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38112.json" } }, { "id": "droid_molmo_sam2_episode_3162", "task": "Put the glass lid on the grey pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3162/0000.jpg", "droid_molmo_sam2/images/episode_3162/0187.jpg", "droid_molmo_sam2/images/episode_3162/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glass lid on the grey pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glass lid on the grey pot, execute the following phases: 1) Initial approach phase (start at [0.398, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.819]). The trajectory involves 195 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3162", "trajectory_length": 195, "key_frame_indices": [ 0, 187, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3162.json" } }, { "id": "droid_molmo_sam2_episode_6568", "task": "Slide the grey towel to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6568/0000.jpg", "droid_molmo_sam2/images/episode_6568/0069.jpg", "droid_molmo_sam2/images/episode_6568/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the grey towel to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the grey towel to the left., execute the following phases: 1) Initial approach phase (start at [0.655, 0.657]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.450]). The trajectory involves 89 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6568", "trajectory_length": 89, "key_frame_indices": [ 0, 69, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6568.json" } }, { "id": "droid_molmo_sam2_episode_30712", "task": "Close the kettle lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30712/0000.jpg", "droid_molmo_sam2/images/episode_30712/0203.jpg", "droid_molmo_sam2/images/episode_30712/0294.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the kettle lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the kettle lid, execute the following phases: 1) Initial approach phase (start at [0.643, 0.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.643, 0.301]). The trajectory involves 295 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30712", "trajectory_length": 295, "key_frame_indices": [ 0, 203, 294 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30712.json" } }, { "id": "droid_molmo_sam2_episode_774", "task": "Move the yellow towel to the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_774/0000.jpg", "droid_molmo_sam2/images/episode_774/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow towel to the right side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow towel to the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.468, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.653]). The trajectory involves 104 precise waypoints with total movement distance of 1.191." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_774", "trajectory_length": 104, "key_frame_indices": [ 0, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_774.json" } }, { "id": "droid_molmo_sam2_episode_4578", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4578/0000.jpg", "droid_molmo_sam2/images/episode_4578/0113.jpg", "droid_molmo_sam2/images/episode_4578/0132.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 [0.606, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.521, 0.463]). The trajectory involves 133 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4578", "trajectory_length": 133, "key_frame_indices": [ 0, 113, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4578.json" } }, { "id": "droid_molmo_sam2_episode_2841", "task": "Put the orange cloth inside the basket.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2841/0000.jpg", "droid_molmo_sam2/images/episode_2841/0088.jpg", "droid_molmo_sam2/images/episode_2841/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cloth inside the basket.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cloth inside the basket., execute the following phases: 1) Initial approach phase (start at [0.506, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.623, 0.741]). The trajectory involves 176 precise waypoints with total movement distance of 0.915." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2841", "trajectory_length": 176, "key_frame_indices": [ 0, 88, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2841.json" } }, { "id": "droid_molmo_sam2_episode_6272", "task": "Use the spatula to stir in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6272/0000.jpg", "droid_molmo_sam2/images/episode_6272/0140.jpg", "droid_molmo_sam2/images/episode_6272/0355.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the spatula to stir in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the spatula to stir in the bowl, execute the following phases: 1) Initial approach phase (start at [0.511, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.833]). The trajectory involves 356 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6272", "trajectory_length": 356, "key_frame_indices": [ 0, 140, 355 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6272.json" } }, { "id": "droid_molmo_sam2_episode_31899", "task": "Place the green bottle in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31899/0000.jpg", "droid_molmo_sam2/images/episode_31899/0274.jpg", "droid_molmo_sam2/images/episode_31899/0305.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green bottle in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the green bottle in the sink, execute the following phases: 1) Initial approach phase (start at [0.608, 0.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.384]). The trajectory involves 306 precise waypoints with total movement distance of 0.829." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31899", "trajectory_length": 306, "key_frame_indices": [ 0, 274, 305 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31899.json" } }, { "id": "droid_molmo_sam2_episode_34920", "task": "Open the top right cupboard door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34920/0000.jpg", "droid_molmo_sam2/images/episode_34920/0197.jpg", "droid_molmo_sam2/images/episode_34920/0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top right cupboard door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top right cupboard door, execute the following phases: 1) Initial approach phase (start at [0.758, 0.118]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.779, 0.116]). The trajectory involves 231 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34920", "trajectory_length": 231, "key_frame_indices": [ 0, 197, 230 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34920.json" } }, { "id": "droid_molmo_sam2_episode_38200", "task": "Push the faucet to the right then lift the faucet handle.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38200/0000.jpg", "droid_molmo_sam2/images/episode_38200/0071.jpg", "droid_molmo_sam2/images/episode_38200/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet to the right then lift the faucet handle.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet to the right then lift the faucet handle., execute the following phases: 1) Initial approach phase (start at [0.267, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.256, 0.715]). The trajectory involves 195 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38200", "trajectory_length": 195, "key_frame_indices": [ 0, 71, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38200.json" } }, { "id": "droid_molmo_sam2_episode_6076", "task": "Put the rubber band on the jar.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6076/0000.jpg", "droid_molmo_sam2/images/episode_6076/0064.jpg", "droid_molmo_sam2/images/episode_6076/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the rubber band on the jar.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the rubber band on the jar., execute the following phases: 1) Initial approach phase (start at [0.563, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.566]). The trajectory involves 123 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6076", "trajectory_length": 123, "key_frame_indices": [ 0, 64, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6076.json" } }, { "id": "droid_molmo_sam2_episode_6037", "task": "Close the sandwich maker", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6037/0000.jpg", "droid_molmo_sam2/images/episode_6037/0148.jpg", "droid_molmo_sam2/images/episode_6037/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the sandwich maker?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the sandwich maker, execute the following phases: 1) Initial approach phase (start at [0.436, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.766]). The trajectory involves 195 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6037", "trajectory_length": 195, "key_frame_indices": [ 0, 148, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6037.json" } }, { "id": "droid_molmo_sam2_episode_6927", "task": "Put the orange thing in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6927/0000.jpg", "droid_molmo_sam2/images/episode_6927/0060.jpg", "droid_molmo_sam2/images/episode_6927/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange thing in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange thing in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.363, 0.755]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.757]). The trajectory involves 99 precise waypoints with total movement distance of 0.059." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6927", "trajectory_length": 99, "key_frame_indices": [ 0, 60, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6927.json" } }, { "id": "droid_molmo_sam2_episode_37966", "task": "Fold the white towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37966/0000.jpg", "droid_molmo_sam2/images/episode_37966/0200.jpg", "droid_molmo_sam2/images/episode_37966/0407.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white towel, execute the following phases: 1) Initial approach phase (start at [0.541, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.654]). The trajectory involves 408 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37966", "trajectory_length": 408, "key_frame_indices": [ 0, 200, 407 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37966.json" } }, { "id": "droid_molmo_sam2_episode_6040", "task": "Put the green sachet in the basket.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6040/0000.jpg", "droid_molmo_sam2/images/episode_6040/0090.jpg", "droid_molmo_sam2/images/episode_6040/0186.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_molmo_sam2 manipulation: Put the green sachet in the basket., execute the following phases: 1) Initial approach phase (start at [0.561, 0.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.437]). The trajectory involves 187 precise waypoints with total movement distance of 0.763." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6040", "trajectory_length": 187, "key_frame_indices": [ 0, 90, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6040.json" } }, { "id": "droid_molmo_sam2_episode_36679", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36679/0000.jpg", "droid_molmo_sam2/images/episode_36679/0077.jpg", "droid_molmo_sam2/images/episode_36679/0094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.583, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 95 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36679", "trajectory_length": 95, "key_frame_indices": [ 0, 77, 94 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36679.json" } }, { "id": "droid_molmo_sam2_episode_3165", "task": "Close the lid of the electric kettle.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3165/0000.jpg", "droid_molmo_sam2/images/episode_3165/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lid of the electric kettle.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lid of the electric kettle., execute the following phases: 1) Initial approach phase (start at [0.635, 0.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 147 precise waypoints with total movement distance of 1.015." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3165", "trajectory_length": 147, "key_frame_indices": [ 0, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3165.json" } }, { "id": "droid_molmo_sam2_episode_7071", "task": "Remove the purple toy from the grey plate and put it on the black tray", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7071/0000.jpg", "droid_molmo_sam2/images/episode_7071/0242.jpg", "droid_molmo_sam2/images/episode_7071/0277.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the purple toy from the grey plate and put it on the black tray?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the purple toy from the grey plate and put it on the black tray, execute the following phases: 1) Initial approach phase (start at [0.431, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.626]). The trajectory involves 278 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7071", "trajectory_length": 278, "key_frame_indices": [ 0, 242, 277 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7071.json" } }, { "id": "droid_molmo_sam2_episode_6902", "task": "Put the orange object in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6902/0000.jpg", "droid_molmo_sam2/images/episode_6902/0092.jpg", "droid_molmo_sam2/images/episode_6902/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange object in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange object in the sink, execute the following phases: 1) Initial approach phase (start at [0.731, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 209 precise waypoints with total movement distance of 1.414." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6902", "trajectory_length": 209, "key_frame_indices": [ 0, 92, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6902.json" } }, { "id": "droid_molmo_sam2_episode_33584", "task": "Pick the cloth and wipe the pan, then put it back on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33584/0000.jpg", "droid_molmo_sam2/images/episode_33584/0171.jpg", "droid_molmo_sam2/images/episode_33584/0336.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth and wipe the pan, then put it back on the counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the cloth and wipe the pan, then put it back on the counter, execute the following phases: 1) Initial approach phase (start at [0.709, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 0.770]). The trajectory involves 337 precise waypoints with total movement distance of 1.290." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33584", "trajectory_length": 337, "key_frame_indices": [ 0, 171, 336 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33584.json" } }, { "id": "droid_molmo_sam2_episode_31265", "task": "Put the peach shirt, the white towel, the pink shirt and the green towel on the top of the box respectively", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31265/0000.jpg", "droid_molmo_sam2/images/episode_31265/0446.jpg", "droid_molmo_sam2/images/episode_31265/0699.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peach shirt, the white towel, the pink shirt and the green towel on the top of the box respectively?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the peach shirt, the white towel, the pink shirt and the green towel on the top of the box respectively, execute the following phases: 1) Initial approach phase (start at [0.546, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.488]). The trajectory involves 700 precise waypoints with total movement distance of 2.102." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31265", "trajectory_length": 700, "key_frame_indices": [ 0, 446, 699 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31265.json" } }, { "id": "droid_molmo_sam2_episode_34936", "task": "Remove the glass lid from the black pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34936/0000.jpg", "droid_molmo_sam2/images/episode_34936/0107.jpg", "droid_molmo_sam2/images/episode_34936/0183.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 [0.390, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.592]). The trajectory involves 184 precise waypoints with total movement distance of 1.665." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34936", "trajectory_length": 184, "key_frame_indices": [ 0, 107, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34936.json" } }, { "id": "droid_molmo_sam2_episode_307", "task": "Close the top right drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_307/0000.jpg", "droid_molmo_sam2/images/episode_307/0101.jpg", "droid_molmo_sam2/images/episode_307/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top right drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top right drawer, execute the following phases: 1) Initial approach phase (start at [0.624, 0.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.324]). The trajectory involves 121 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_307", "trajectory_length": 121, "key_frame_indices": [ 0, 101, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_307.json" } }, { "id": "droid_molmo_sam2_episode_33088", "task": "Pick up the blue object from the wooden holder and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33088/0000.jpg", "droid_molmo_sam2/images/episode_33088/0063.jpg", "droid_molmo_sam2/images/episode_33088/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue object from the wooden holder and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue object from the wooden holder and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.540, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.696]). The trajectory involves 201 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33088", "trajectory_length": 201, "key_frame_indices": [ 0, 63, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33088.json" } }, { "id": "droid_molmo_sam2_episode_3121", "task": "Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3121/0000.jpg", "droid_molmo_sam2/images/episode_3121/0218.jpg", "droid_molmo_sam2/images/episode_3121/0374.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_molmo_sam2 manipulation: Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.573, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.679]). The trajectory involves 375 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3121", "trajectory_length": 375, "key_frame_indices": [ 0, 218, 374 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3121.json" } }, { "id": "droid_molmo_sam2_episode_31720", "task": "Unhang the cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31720/0000.jpg", "droid_molmo_sam2/images/episode_31720/0084.jpg", "droid_molmo_sam2/images/episode_31720/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unhang the cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.570, 0.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.835]). The trajectory involves 104 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31720", "trajectory_length": 104, "key_frame_indices": [ 0, 84, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31720.json" } }, { "id": "droid_molmo_sam2_episode_31687", "task": "Turn the shoe on the right in the opposite direction", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31687/0000.jpg", "droid_molmo_sam2/images/episode_31687/0120.jpg", "droid_molmo_sam2/images/episode_31687/0278.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the shoe on the right in the opposite direction?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the shoe on the right in the opposite direction, execute the following phases: 1) Initial approach phase (start at [0.528, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.743]). The trajectory involves 279 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31687", "trajectory_length": 279, "key_frame_indices": [ 0, 120, 278 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31687.json" } }, { "id": "droid_molmo_sam2_episode_37959", "task": "Remove the grey towel from the backrest of the sofa.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37959/0000.jpg", "droid_molmo_sam2/images/episode_37959/0115.jpg", "droid_molmo_sam2/images/episode_37959/0259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the grey towel from the backrest of the sofa.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the grey towel from the backrest of the sofa., execute the following phases: 1) Initial approach phase (start at [0.387, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.689]). The trajectory involves 260 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37959", "trajectory_length": 260, "key_frame_indices": [ 0, 115, 259 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37959.json" } }, { "id": "droid_molmo_sam2_episode_1392", "task": "Move the marker to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1392/0000.jpg", "droid_molmo_sam2/images/episode_1392/0111.jpg", "droid_molmo_sam2/images/episode_1392/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.607, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.464]). The trajectory involves 166 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1392", "trajectory_length": 166, "key_frame_indices": [ 0, 111, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1392.json" } }, { "id": "droid_molmo_sam2_episode_2249", "task": "Move the can to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2249/0000.jpg", "droid_molmo_sam2/images/episode_2249/0097.jpg", "droid_molmo_sam2/images/episode_2249/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the can to the right, execute the following phases: 1) Initial approach phase (start at [0.489, 0.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 0.366]). The trajectory involves 153 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2249", "trajectory_length": 153, "key_frame_indices": [ 0, 97, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2249.json" } }, { "id": "droid_molmo_sam2_episode_1853", "task": "Put the peach on top of the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1853/0000.jpg", "droid_molmo_sam2/images/episode_1853/0069.jpg", "droid_molmo_sam2/images/episode_1853/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the peach on top of the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the peach on top of the shelf, execute the following phases: 1) Initial approach phase (start at [0.639, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.121]). The trajectory involves 104 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1853", "trajectory_length": 104, "key_frame_indices": [ 0, 69, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1853.json" } }, { "id": "droid_molmo_sam2_episode_3727", "task": "Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3727/0000.jpg", "droid_molmo_sam2/images/episode_3727/0084.jpg", "droid_molmo_sam2/images/episode_3727/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.678, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.481]). The trajectory involves 124 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3727", "trajectory_length": 124, "key_frame_indices": [ 0, 84, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3727.json" } }, { "id": "droid_molmo_sam2_episode_38151", "task": "Pick the cloth on the line and drop it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38151/0000.jpg", "droid_molmo_sam2/images/episode_38151/0191.jpg", "droid_molmo_sam2/images/episode_38151/0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth on the line and drop it in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the cloth on the line and drop it in the sink, execute the following phases: 1) Initial approach phase (start at [0.638, 0.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.827]). The trajectory involves 220 precise waypoints with total movement distance of 1.518." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38151", "trajectory_length": 220, "key_frame_indices": [ 0, 191, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38151.json" } }, { "id": "droid_molmo_sam2_episode_3779", "task": "Place the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3779/0000.jpg", "droid_molmo_sam2/images/episode_3779/0085.jpg", "droid_molmo_sam2/images/episode_3779/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.525, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.358]). The trajectory involves 176 precise waypoints with total movement distance of 0.564." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3779", "trajectory_length": 176, "key_frame_indices": [ 0, 85, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3779.json" } }, { "id": "droid_molmo_sam2_episode_30625", "task": "Move the bunny toy to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30625/0000.jpg", "droid_molmo_sam2/images/episode_30625/0117.jpg", "droid_molmo_sam2/images/episode_30625/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bunny toy to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bunny toy to the left, execute the following phases: 1) Initial approach phase (start at [0.579, 0.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.474]). The trajectory involves 135 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30625", "trajectory_length": 135, "key_frame_indices": [ 0, 117, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30625.json" } }, { "id": "droid_molmo_sam2_episode_232", "task": "Put the marker in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_232/0000.jpg", "droid_molmo_sam2/images/episode_232/0164.jpg", "droid_molmo_sam2/images/episode_232/0224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the bowl, execute the following phases: 1) Initial approach phase (start at [0.367, 0.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.670]). The trajectory involves 225 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_232", "trajectory_length": 225, "key_frame_indices": [ 0, 164, 224 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_232.json" } }, { "id": "droid_molmo_sam2_episode_4000", "task": "Close the microwave", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4000/0000.jpg", "droid_molmo_sam2/images/episode_4000/0337.jpg", "droid_molmo_sam2/images/episode_4000/0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the microwave?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the microwave, execute the following phases: 1) Initial approach phase (start at [0.473, 0.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.277]). The trajectory involves 367 precise waypoints with total movement distance of 0.857." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4000", "trajectory_length": 367, "key_frame_indices": [ 0, 337, 366 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4000.json" } }, { "id": "droid_molmo_sam2_episode_1681", "task": "Put the white cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1681/0000.jpg", "droid_molmo_sam2/images/episode_1681/0165.jpg", "droid_molmo_sam2/images/episode_1681/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.551, 0.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.477, 0.457]). The trajectory involves 181 precise waypoints with total movement distance of 1.078." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1681", "trajectory_length": 181, "key_frame_indices": [ 0, 165, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1681.json" } }, { "id": "droid_molmo_sam2_episode_3044", "task": "Move the blue cup to the left and put the orange marker inside it", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3044/0000.jpg", "droid_molmo_sam2/images/episode_3044/0001.jpg", "droid_molmo_sam2/images/episode_3044/0477.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cup to the left and put the orange marker inside it?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cup to the left and put the orange marker inside it, execute the following phases: 1) Initial approach phase (start at [0.499, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.765]). The trajectory involves 478 precise waypoints with total movement distance of 0.869." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3044", "trajectory_length": 478, "key_frame_indices": [ 0, 1, 477 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3044.json" } }, { "id": "droid_molmo_sam2_episode_38631", "task": "Pile all the objects to the left front corner", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38631/0000.jpg", "droid_molmo_sam2/images/episode_38631/0288.jpg", "droid_molmo_sam2/images/episode_38631/0635.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pile all the objects to the left front corner?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pile all the objects to the left front corner, execute the following phases: 1) Initial approach phase (start at [0.459, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.845]). The trajectory involves 636 precise waypoints with total movement distance of 1.546." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38631", "trajectory_length": 636, "key_frame_indices": [ 0, 288, 635 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38631.json" } }, { "id": "droid_molmo_sam2_episode_7136", "task": "Pick the circular object on the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7136/0000.jpg", "droid_molmo_sam2/images/episode_7136/0076.jpg", "droid_molmo_sam2/images/episode_7136/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the circular object on the cup and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the circular object on the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.393, 0.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.438]). The trajectory involves 133 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7136", "trajectory_length": 133, "key_frame_indices": [ 0, 76, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7136.json" } }, { "id": "droid_molmo_sam2_episode_1668", "task": "Move the bottle away from you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1668/0000.jpg", "droid_molmo_sam2/images/episode_1668/0216.jpg", "droid_molmo_sam2/images/episode_1668/0219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle away from you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle away from you, execute the following phases: 1) Initial approach phase (start at [0.761, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.412]). The trajectory involves 220 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1668", "trajectory_length": 220, "key_frame_indices": [ 0, 216, 219 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1668.json" } }, { "id": "droid_molmo_sam2_episode_35674", "task": "Pick up the green object from the table and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35674/0000.jpg", "droid_molmo_sam2/images/episode_35674/0066.jpg", "droid_molmo_sam2/images/episode_35674/0082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the green object from the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the green object from the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.791, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.674, 0.553]). The trajectory involves 83 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35674", "trajectory_length": 83, "key_frame_indices": [ 0, 66, 82 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35674.json" } }, { "id": "droid_molmo_sam2_episode_33184", "task": "Unfold the white towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33184/0000.jpg", "droid_molmo_sam2/images/episode_33184/0342.jpg", "droid_molmo_sam2/images/episode_33184/0515.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the white towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the white towel, execute the following phases: 1) Initial approach phase (start at [0.613, 0.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.637]). The trajectory involves 516 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33184", "trajectory_length": 516, "key_frame_indices": [ 0, 342, 515 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33184.json" } }, { "id": "droid_molmo_sam2_episode_34527", "task": "Remove the clothes from the white storage container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34527/0000.jpg", "droid_molmo_sam2/images/episode_34527/0146.jpg", "droid_molmo_sam2/images/episode_34527/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the clothes from the white storage container?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothes from the white storage container, execute the following phases: 1) Initial approach phase (start at [0.530, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.890]). The trajectory involves 308 precise waypoints with total movement distance of 1.518." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34527", "trajectory_length": 308, "key_frame_indices": [ 0, 146, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34527.json" } }, { "id": "droid_molmo_sam2_episode_4472", "task": "Remove the marker from the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4472/0000.jpg", "droid_molmo_sam2/images/episode_4472/0117.jpg", "droid_molmo_sam2/images/episode_4472/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the bowl.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the bowl., execute the following phases: 1) Initial approach phase (start at [0.528, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.528]). The trajectory involves 179 precise waypoints with total movement distance of 0.637." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4472", "trajectory_length": 179, "key_frame_indices": [ 0, 117, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4472.json" } }, { "id": "droid_molmo_sam2_episode_1915", "task": "Press down the stapler", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1915/0000.jpg", "droid_molmo_sam2/images/episode_1915/0121.jpg", "droid_molmo_sam2/images/episode_1915/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press down the stapler?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press down the stapler, execute the following phases: 1) Initial approach phase (start at [0.666, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.628]). The trajectory involves 158 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1915", "trajectory_length": 158, "key_frame_indices": [ 0, 121, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1915.json" } }, { "id": "droid_molmo_sam2_episode_2105", "task": "Move the red bowl forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2105/0000.jpg", "droid_molmo_sam2/images/episode_2105/0096.jpg", "droid_molmo_sam2/images/episode_2105/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the red bowl forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the red bowl forward, execute the following phases: 1) Initial approach phase (start at [0.650, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.586]). The trajectory involves 128 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2105", "trajectory_length": 128, "key_frame_indices": [ 0, 96, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2105.json" } }, { "id": "droid_molmo_sam2_episode_978", "task": "Put the green object into the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_978/0000.jpg", "droid_molmo_sam2/images/episode_978/0051.jpg", "droid_molmo_sam2/images/episode_978/0070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green object into the black bowl.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green object into the black bowl., execute the following phases: 1) Initial approach phase (start at [0.608, 0.780]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.799]). The trajectory involves 71 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_978", "trajectory_length": 71, "key_frame_indices": [ 0, 51, 70 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_978.json" } }, { "id": "droid_molmo_sam2_episode_32678", "task": "Put the glue stick in the green cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32678/0000.jpg", "droid_molmo_sam2/images/episode_32678/0056.jpg", "droid_molmo_sam2/images/episode_32678/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glue stick in the green cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glue stick in the green cup, execute the following phases: 1) Initial approach phase (start at [0.701, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.593]). The trajectory involves 112 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32678", "trajectory_length": 112, "key_frame_indices": [ 0, 56, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32678.json" } }, { "id": "droid_molmo_sam2_episode_6993", "task": "Put the white towel inside the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6993/0000.jpg", "droid_molmo_sam2/images/episode_6993/0098.jpg", "droid_molmo_sam2/images/episode_6993/0379.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white towel inside the basket?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white towel inside the basket, execute the following phases: 1) Initial approach phase (start at [0.205, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.325]). The trajectory involves 380 precise waypoints with total movement distance of 1.618." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6993", "trajectory_length": 380, "key_frame_indices": [ 0, 98, 379 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6993.json" } }, { "id": "droid_molmo_sam2_episode_35304", "task": "Get the kitchen towel from the colorless object and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35304/0000.jpg", "droid_molmo_sam2/images/episode_35304/0145.jpg", "droid_molmo_sam2/images/episode_35304/0153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the kitchen towel from the colorless object and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the kitchen towel from the colorless object and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.505, 0.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.769]). The trajectory involves 154 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35304", "trajectory_length": 154, "key_frame_indices": [ 0, 145, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35304.json" } }, { "id": "droid_molmo_sam2_episode_3138", "task": "Pick up the canned drink from the shelf and put it in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3138/0000.jpg", "droid_molmo_sam2/images/episode_3138/0484.jpg", "droid_molmo_sam2/images/episode_3138/0502.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the canned drink from the shelf and put it in the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the canned drink from the shelf and put it in the sink, execute the following phases: 1) Initial approach phase (start at [0.451, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.792]). The trajectory involves 503 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3138", "trajectory_length": 503, "key_frame_indices": [ 0, 484, 502 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3138.json" } }, { "id": "droid_molmo_sam2_episode_37550", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37550/0000.jpg", "droid_molmo_sam2/images/episode_37550/0204.jpg", "droid_molmo_sam2/images/episode_37550/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.566, 0.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.550]). The trajectory involves 271 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37550", "trajectory_length": 271, "key_frame_indices": [ 0, 204, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37550.json" } }, { "id": "droid_molmo_sam2_episode_35240", "task": "Pick up the lid from the table and close the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35240/0000.jpg", "droid_molmo_sam2/images/episode_35240/0214.jpg", "droid_molmo_sam2/images/episode_35240/0482.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid from the table and close the pot?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Pick up the lid from the table and close the pot, execute the following phases: 1) Initial approach phase (start at [0.371, 0.957]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 0.769]). The trajectory involves 483 precise waypoints with total movement distance of 4.578." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35240", "trajectory_length": 483, "key_frame_indices": [ 0, 214, 482 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35240.json" } }, { "id": "droid_molmo_sam2_episode_3915", "task": "Pick up the bottle and place it top of the other bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3915/0000.jpg", "droid_molmo_sam2/images/episode_3915/0099.jpg", "droid_molmo_sam2/images/episode_3915/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the bottle and place it top of the other bottle?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the bottle and place it top of the other bottle, execute the following phases: 1) Initial approach phase (start at [0.775, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.482]). The trajectory involves 205 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3915", "trajectory_length": 205, "key_frame_indices": [ 0, 99, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3915.json" } }, { "id": "droid_molmo_sam2_episode_6973", "task": "Move the smaller cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6973/0000.jpg", "droid_molmo_sam2/images/episode_6973/0164.jpg", "droid_molmo_sam2/images/episode_6973/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the smaller cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the smaller cup to the right, execute the following phases: 1) Initial approach phase (start at [0.760, 0.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.234]). The trajectory involves 196 precise waypoints with total movement distance of 1.892." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6973", "trajectory_length": 196, "key_frame_indices": [ 0, 164, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6973.json" } }, { "id": "droid_molmo_sam2_episode_32527", "task": "Wipe the table with the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32527/0000.jpg", "droid_molmo_sam2/images/episode_32527/0071.jpg", "droid_molmo_sam2/images/episode_32527/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the table with the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the table with the towel, execute the following phases: 1) Initial approach phase (start at [0.410, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.619]). The trajectory involves 142 precise waypoints with total movement distance of 0.798." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32527", "trajectory_length": 142, "key_frame_indices": [ 0, 71, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32527.json" } }, { "id": "droid_molmo_sam2_episode_6508", "task": "Turn off the air fryer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6508/0000.jpg", "droid_molmo_sam2/images/episode_6508/0061.jpg", "droid_molmo_sam2/images/episode_6508/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn off the air fryer?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn off the air fryer, execute the following phases: 1) Initial approach phase (start at [0.592, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.552]). The trajectory involves 177 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6508", "trajectory_length": 177, "key_frame_indices": [ 0, 61, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6508.json" } }, { "id": "droid_molmo_sam2_episode_37510", "task": "Pick up the grey clothing from the chair and put it in the white bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37510/0000.jpg", "droid_molmo_sam2/images/episode_37510/0189.jpg", "droid_molmo_sam2/images/episode_37510/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the grey clothing from the chair and put it in the white bin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the grey clothing from the chair and put it in the white bin, execute the following phases: 1) Initial approach phase (start at [0.602, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.779]). The trajectory involves 258 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37510", "trajectory_length": 258, "key_frame_indices": [ 0, 189, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37510.json" } }, { "id": "droid_molmo_sam2_episode_2370", "task": "Remove the lid from the bottle and put it on the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2370/0000.jpg", "droid_molmo_sam2/images/episode_2370/0024.jpg", "droid_molmo_sam2/images/episode_2370/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the bottle and put it on the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the bottle and put it on the couch, execute the following phases: 1) Initial approach phase (start at [0.499, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.918]). The trajectory involves 195 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2370", "trajectory_length": 195, "key_frame_indices": [ 0, 24, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2370.json" } }, { "id": "droid_molmo_sam2_episode_136", "task": "Move the green towel to the bottom right corner", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_136/0000.jpg", "droid_molmo_sam2/images/episode_136/0100.jpg", "droid_molmo_sam2/images/episode_136/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green towel to the bottom right corner?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green towel to the bottom right corner, execute the following phases: 1) Initial approach phase (start at [0.519, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.673]). The trajectory involves 112 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_136", "trajectory_length": 112, "key_frame_indices": [ 0, 100, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_136.json" } }, { "id": "droid_molmo_sam2_episode_4283", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4283/0000.jpg", "droid_molmo_sam2/images/episode_4283/0112.jpg", "droid_molmo_sam2/images/episode_4283/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.613, 0.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.507]). The trajectory involves 175 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4283", "trajectory_length": 175, "key_frame_indices": [ 0, 112, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4283.json" } }, { "id": "droid_molmo_sam2_episode_38182", "task": "Pick up the cloth from the table and put it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38182/0000.jpg", "droid_molmo_sam2/images/episode_38182/0304.jpg", "droid_molmo_sam2/images/episode_38182/0379.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth from the table and put it in the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth from the table and put it in the box, execute the following phases: 1) Initial approach phase (start at [0.243, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 380 precise waypoints with total movement distance of 1.016." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38182", "trajectory_length": 380, "key_frame_indices": [ 0, 304, 379 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38182.json" } }, { "id": "droid_molmo_sam2_episode_1110", "task": "Close the cupboard door on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1110/0000.jpg", "droid_molmo_sam2/images/episode_1110/0147.jpg", "droid_molmo_sam2/images/episode_1110/0418.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the cupboard door on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the cupboard door on the right, execute the following phases: 1) Initial approach phase (start at [0.682, 0.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.193]). The trajectory involves 419 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1110", "trajectory_length": 419, "key_frame_indices": [ 0, 147, 418 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1110.json" } }, { "id": "droid_molmo_sam2_episode_39308", "task": "Fold the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39308/0000.jpg", "droid_molmo_sam2/images/episode_39308/0245.jpg", "droid_molmo_sam2/images/episode_39308/0306.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.671, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 0.797]). The trajectory involves 307 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39308", "trajectory_length": 307, "key_frame_indices": [ 0, 245, 306 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39308.json" } }, { "id": "droid_molmo_sam2_episode_779", "task": "Take the pen out of the green cup and put it on the sink countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_779/0000.jpg", "droid_molmo_sam2/images/episode_779/0079.jpg", "droid_molmo_sam2/images/episode_779/0106.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?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the green cup and put it on the sink countertop, execute the following phases: 1) Initial approach phase (start at [0.554, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.775]). The trajectory involves 107 precise waypoints with total movement distance of 0.969." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_779", "trajectory_length": 107, "key_frame_indices": [ 0, 79, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_779.json" } }, { "id": "droid_molmo_sam2_episode_3108", "task": "Hang the white cloth on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3108/0000.jpg", "droid_molmo_sam2/images/episode_3108/0105.jpg", "droid_molmo_sam2/images/episode_3108/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the white cloth on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the white cloth on the black stand, execute the following phases: 1) Initial approach phase (start at [0.528, 0.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.077]). The trajectory involves 163 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3108", "trajectory_length": 163, "key_frame_indices": [ 0, 105, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3108.json" } }, { "id": "droid_molmo_sam2_episode_31664", "task": "Move the ball to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31664/0000.jpg", "droid_molmo_sam2/images/episode_31664/0128.jpg", "droid_molmo_sam2/images/episode_31664/0646.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the ball to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the ball to the right, execute the following phases: 1) Initial approach phase (start at [0.603, 0.880]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.796, 0.676]). The trajectory involves 647 precise waypoints with total movement distance of 3.039." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31664", "trajectory_length": 647, "key_frame_indices": [ 0, 128, 646 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31664.json" } }, { "id": "droid_molmo_sam2_episode_38580", "task": "Put the orange marker inside the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38580/0000.jpg", "droid_molmo_sam2/images/episode_38580/0112.jpg", "droid_molmo_sam2/images/episode_38580/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange marker inside the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange marker inside the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.365, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.685]). The trajectory involves 126 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38580", "trajectory_length": 126, "key_frame_indices": [ 0, 112, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38580.json" } }, { "id": "droid_molmo_sam2_episode_3075", "task": "Move the forks from the white plate to the brown bowl starting with the black fork", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3075/0000.jpg", "droid_molmo_sam2/images/episode_3075/0192.jpg", "droid_molmo_sam2/images/episode_3075/0312.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the forks from the white plate to the brown bowl starting with the black fork?" }, { "from": "gpt", "value": "To complete this repositioning: Move the forks from the white plate to the brown bowl starting with the black fork, execute the following phases: 1) Initial approach phase (start at [0.440, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.782]). The trajectory involves 313 precise waypoints with total movement distance of 0.753." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3075", "trajectory_length": 313, "key_frame_indices": [ 0, 192, 312 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3075.json" } }, { "id": "droid_molmo_sam2_episode_4168", "task": "Pick up the orange cube and put it on top of the green cube", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4168/0000.jpg", "droid_molmo_sam2/images/episode_4168/0052.jpg", "droid_molmo_sam2/images/episode_4168/0161.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?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange cube and put it on top of the green cube, execute the following phases: 1) Initial approach phase (start at [0.563, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.510]). The trajectory involves 162 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4168", "trajectory_length": 162, "key_frame_indices": [ 0, 52, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4168.json" } }, { "id": "droid_molmo_sam2_episode_31697", "task": "Place the white lid on top of the clear food container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31697/0000.jpg", "droid_molmo_sam2/images/episode_31697/0208.jpg", "droid_molmo_sam2/images/episode_31697/0398.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the clear food container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white lid on top of the clear food container, execute the following phases: 1) Initial approach phase (start at [0.704, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.558]). The trajectory involves 399 precise waypoints with total movement distance of 1.031." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31697", "trajectory_length": 399, "key_frame_indices": [ 0, 208, 398 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31697.json" } }, { "id": "droid_molmo_sam2_episode_33358", "task": "Take the marker out of the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33358/0000.jpg", "droid_molmo_sam2/images/episode_33358/0090.jpg", "droid_molmo_sam2/images/episode_33358/0115.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_molmo_sam2 manipulation: Take the marker out of the cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.442, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.543]). The trajectory involves 116 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33358", "trajectory_length": 116, "key_frame_indices": [ 0, 90, 115 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33358.json" } }, { "id": "droid_molmo_sam2_episode_3134", "task": "Move the bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3134/0000.jpg", "droid_molmo_sam2/images/episode_3134/0094.jpg", "droid_molmo_sam2/images/episode_3134/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle forward, execute the following phases: 1) Initial approach phase (start at [0.449, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 0.488]). The trajectory involves 164 precise waypoints with total movement distance of 0.908." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3134", "trajectory_length": 164, "key_frame_indices": [ 0, 94, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3134.json" } }, { "id": "droid_molmo_sam2_episode_39436", "task": "Pick the clear bowl and pour its contents into the blue bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39436/0000.jpg", "droid_molmo_sam2/images/episode_39436/0280.jpg", "droid_molmo_sam2/images/episode_39436/0549.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the clear bowl and pour its contents into the blue bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the clear bowl and pour its contents into the blue bowl, execute the following phases: 1) Initial approach phase (start at [0.565, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.434]). The trajectory involves 550 precise waypoints with total movement distance of 1.354." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39436", "trajectory_length": 550, "key_frame_indices": [ 0, 280, 549 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39436.json" } }, { "id": "droid_molmo_sam2_episode_32819", "task": "Unfold the t-shirt", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32819/0000.jpg", "droid_molmo_sam2/images/episode_32819/0300.jpg", "droid_molmo_sam2/images/episode_32819/0594.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the t-shirt?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the t-shirt, execute the following phases: 1) Initial approach phase (start at [0.593, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.895]). The trajectory involves 595 precise waypoints with total movement distance of 3.012." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32819", "trajectory_length": 595, "key_frame_indices": [ 0, 300, 594 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32819.json" } }, { "id": "droid_molmo_sam2_episode_2351", "task": "Remove the green can from the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2351/0000.jpg", "droid_molmo_sam2/images/episode_2351/0210.jpg", "droid_molmo_sam2/images/episode_2351/0351.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green can from the sink?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green can from the sink, execute the following phases: 1) Initial approach phase (start at [0.494, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.687]). The trajectory involves 352 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2351", "trajectory_length": 352, "key_frame_indices": [ 0, 210, 351 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2351.json" } }, { "id": "droid_molmo_sam2_episode_31050", "task": "Pick the bottle and move it slightly to the bottom on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31050/0000.jpg", "droid_molmo_sam2/images/episode_31050/0102.jpg", "droid_molmo_sam2/images/episode_31050/0163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottle and move it slightly to the bottom on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick the bottle and move it slightly to the bottom on the table, execute the following phases: 1) Initial approach phase (start at [0.563, 0.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 0.684]). The trajectory involves 164 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31050", "trajectory_length": 164, "key_frame_indices": [ 0, 102, 163 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31050.json" } }, { "id": "droid_molmo_sam2_episode_31281", "task": "Put the yellow thing in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31281/0000.jpg", "droid_molmo_sam2/images/episode_31281/0055.jpg", "droid_molmo_sam2/images/episode_31281/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow thing in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow thing in the bowl, execute the following phases: 1) Initial approach phase (start at [0.585, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.480]). The trajectory involves 173 precise waypoints with total movement distance of 1.219." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31281", "trajectory_length": 173, "key_frame_indices": [ 0, 55, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31281.json" } }, { "id": "droid_molmo_sam2_episode_39824", "task": "Move the yellow mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39824/0000.jpg", "droid_molmo_sam2/images/episode_39824/0148.jpg", "droid_molmo_sam2/images/episode_39824/0221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the yellow mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the yellow mug to the right, execute the following phases: 1) Initial approach phase (start at [0.646, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.812, 0.470]). The trajectory involves 222 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39824", "trajectory_length": 222, "key_frame_indices": [ 0, 148, 221 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39824.json" } }, { "id": "droid_molmo_sam2_episode_30173", "task": "Move the bottle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30173/0000.jpg", "droid_molmo_sam2/images/episode_30173/0109.jpg", "droid_molmo_sam2/images/episode_30173/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle to the right, execute the following phases: 1) Initial approach phase (start at [0.022, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.614]). The trajectory involves 159 precise waypoints with total movement distance of 1.253." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30173", "trajectory_length": 159, "key_frame_indices": [ 0, 109, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30173.json" } }, { "id": "droid_molmo_sam2_episode_31660", "task": "Use the blue cloth to wipe the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31660/0000.jpg", "droid_molmo_sam2/images/episode_31660/0347.jpg", "droid_molmo_sam2/images/episode_31660/0385.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the blue cloth to wipe the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the blue cloth to wipe the white plate, execute the following phases: 1) Initial approach phase (start at [0.417, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.502]). The trajectory involves 386 precise waypoints with total movement distance of 1.462." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31660", "trajectory_length": 386, "key_frame_indices": [ 0, 347, 385 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31660.json" } }, { "id": "droid_molmo_sam2_episode_39472", "task": "Cover the silver bottle with the silver lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39472/0000.jpg", "droid_molmo_sam2/images/episode_39472/0267.jpg", "droid_molmo_sam2/images/episode_39472/0406.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Cover the silver bottle with the silver lid?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Cover the silver bottle with the silver lid, execute the following phases: 1) Initial approach phase (start at [0.665, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.704, 0.551]). The trajectory involves 407 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39472", "trajectory_length": 407, "key_frame_indices": [ 0, 267, 406 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39472.json" } }, { "id": "droid_molmo_sam2_episode_701", "task": "Open the shower door.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_701/0000.jpg", "droid_molmo_sam2/images/episode_701/0262.jpg", "droid_molmo_sam2/images/episode_701/0263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the shower door.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the shower door., execute the following phases: 1) Initial approach phase (start at [0.711, 0.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.815, 0.351]). The trajectory involves 264 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_701", "trajectory_length": 264, "key_frame_indices": [ 0, 262, 263 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_701.json" } }, { "id": "droid_molmo_sam2_episode_38382", "task": "Pick up the clothes from the chair and put them on the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38382/0000.jpg", "droid_molmo_sam2/images/episode_38382/0129.jpg", "droid_molmo_sam2/images/episode_38382/0271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the clothes from the chair and put them on the box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the clothes from the chair and put them on the box, execute the following phases: 1) Initial approach phase (start at [0.514, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.421]). The trajectory involves 272 precise waypoints with total movement distance of 1.839." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38382", "trajectory_length": 272, "key_frame_indices": [ 0, 129, 271 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38382.json" } }, { "id": "droid_molmo_sam2_episode_32710", "task": "Remove the small book from the object and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32710/0000.jpg", "droid_molmo_sam2/images/episode_32710/0175.jpg", "droid_molmo_sam2/images/episode_32710/0363.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the small book from the object and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the small book from the object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.593, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.561]). The trajectory involves 364 precise waypoints with total movement distance of 1.138." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32710", "trajectory_length": 364, "key_frame_indices": [ 0, 175, 363 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32710.json" } }, { "id": "droid_molmo_sam2_episode_32533", "task": "Align the picture frame on the wall", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32533/0000.jpg", "droid_molmo_sam2/images/episode_32533/0054.jpg", "droid_molmo_sam2/images/episode_32533/0206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Align the picture frame on the wall?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Align the picture frame on the wall, execute the following phases: 1) Initial approach phase (start at [0.321, 0.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.127]). The trajectory involves 207 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32533", "trajectory_length": 207, "key_frame_indices": [ 0, 54, 206 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32533.json" } }, { "id": "droid_molmo_sam2_episode_36530", "task": "Hang the towel on the black clamp stand on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36530/0000.jpg", "droid_molmo_sam2/images/episode_36530/0068.jpg", "droid_molmo_sam2/images/episode_36530/0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the towel on the black clamp stand on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the towel on the black clamp stand on the table, execute the following phases: 1) Initial approach phase (start at [0.341, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.412]). The trajectory involves 155 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36530", "trajectory_length": 155, "key_frame_indices": [ 0, 68, 154 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36530.json" } }, { "id": "droid_molmo_sam2_episode_2924", "task": "Move the clear bottle to the right side of the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2924/0000.jpg", "droid_molmo_sam2/images/episode_2924/0235.jpg", "droid_molmo_sam2/images/episode_2924/0236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear bottle to the right side of the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear bottle to the right side of the counter, execute the following phases: 1) Initial approach phase (start at [0.395, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.953, 0.030]). The trajectory involves 237 precise waypoints with total movement distance of 1.502." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2924", "trajectory_length": 237, "key_frame_indices": [ 0, 235, 236 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2924.json" } }, { "id": "droid_molmo_sam2_episode_32382", "task": "Put the cloth on the black rod", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32382/0000.jpg", "droid_molmo_sam2/images/episode_32382/0127.jpg", "droid_molmo_sam2/images/episode_32382/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cloth on the black rod?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cloth on the black rod, execute the following phases: 1) Initial approach phase (start at [0.503, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.333]). The trajectory involves 159 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32382", "trajectory_length": 159, "key_frame_indices": [ 0, 127, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32382.json" } }, { "id": "droid_molmo_sam2_episode_38143", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38143/0000.jpg", "droid_molmo_sam2/images/episode_38143/0041.jpg", "droid_molmo_sam2/images/episode_38143/0074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.443, 0.667]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.541]). The trajectory involves 75 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38143", "trajectory_length": 75, "key_frame_indices": [ 0, 41, 74 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38143.json" } }, { "id": "droid_molmo_sam2_episode_30353", "task": "Move the faucet spout to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30353/0000.jpg", "droid_molmo_sam2/images/episode_30353/0098.jpg", "droid_molmo_sam2/images/episode_30353/0110.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 [0.731, 0.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.727, 0.398]). The trajectory involves 111 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30353", "trajectory_length": 111, "key_frame_indices": [ 0, 98, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30353.json" } }, { "id": "droid_molmo_sam2_episode_7270", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7270/0000.jpg", "droid_molmo_sam2/images/episode_7270/0259.jpg", "droid_molmo_sam2/images/episode_7270/0309.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.802, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 0.589]). The trajectory involves 310 precise waypoints with total movement distance of 1.366." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7270", "trajectory_length": 310, "key_frame_indices": [ 0, 259, 309 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7270.json" } }, { "id": "droid_molmo_sam2_episode_1354", "task": "Push the basket back into the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1354/0000.jpg", "droid_molmo_sam2/images/episode_1354/0131.jpg", "droid_molmo_sam2/images/episode_1354/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the basket back into the shelf?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the basket back into the shelf, execute the following phases: 1) Initial approach phase (start at [0.503, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.801]). The trajectory involves 148 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1354", "trajectory_length": 148, "key_frame_indices": [ 0, 131, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1354.json" } }, { "id": "droid_molmo_sam2_episode_30555", "task": "Close the bottom drawer of the file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30555/0000.jpg", "droid_molmo_sam2/images/episode_30555/0035.jpg", "droid_molmo_sam2/images/episode_30555/0057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the file cabinet, execute the following phases: 1) Initial approach phase (start at [0.493, 0.946]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.955]). The trajectory involves 58 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30555", "trajectory_length": 58, "key_frame_indices": [ 0, 35, 57 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30555.json" } }, { "id": "droid_molmo_sam2_episode_3019", "task": "Pick up the plum plush toy and place it on the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3019/0000.jpg", "droid_molmo_sam2/images/episode_3019/0029.jpg", "droid_molmo_sam2/images/episode_3019/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the plum plush toy and place it on the white bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the plum plush toy and place it on the white bowl, execute the following phases: 1) Initial approach phase (start at [0.457, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.742]). The trajectory involves 173 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3019", "trajectory_length": 173, "key_frame_indices": [ 0, 29, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3019.json" } }, { "id": "droid_molmo_sam2_episode_2606", "task": "Put the pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2606/0000.jpg", "droid_molmo_sam2/images/episode_2606/0143.jpg", "droid_molmo_sam2/images/episode_2606/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.401, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.320]). The trajectory involves 156 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2606", "trajectory_length": 156, "key_frame_indices": [ 0, 143, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2606.json" } }, { "id": "droid_molmo_sam2_episode_85", "task": "Move the white mug cup slightly to left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_85/0000.jpg", "droid_molmo_sam2/images/episode_85/0053.jpg", "droid_molmo_sam2/images/episode_85/0092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white mug cup slightly to left.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white mug cup slightly to left., execute the following phases: 1) Initial approach phase (start at [0.604, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.544]). The trajectory involves 93 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_85", "trajectory_length": 93, "key_frame_indices": [ 0, 53, 92 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_85.json" } }, { "id": "droid_molmo_sam2_episode_6436", "task": "Move the blue bottle to the left on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6436/0000.jpg", "droid_molmo_sam2/images/episode_6436/0081.jpg", "droid_molmo_sam2/images/episode_6436/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bottle to the left on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bottle to the left on the counter, execute the following phases: 1) Initial approach phase (start at [0.572, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.585]). The trajectory involves 124 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6436", "trajectory_length": 124, "key_frame_indices": [ 0, 81, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6436.json" } }, { "id": "droid_molmo_sam2_episode_35607", "task": "Throw the papers on the table in the trash can on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35607/0000.jpg", "droid_molmo_sam2/images/episode_35607/1326.jpg", "droid_molmo_sam2/images/episode_35607/1346.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Throw the papers on the table in the trash can on the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Throw the papers on the table in the trash can on the right, execute the following phases: 1) Initial approach phase (start at [0.611, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 1347 precise waypoints with total movement distance of 5.860." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35607", "trajectory_length": 1347, "key_frame_indices": [ 0, 1326, 1346 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35607.json" } }, { "id": "droid_molmo_sam2_episode_39761", "task": "Take the pump bottle and put it on the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39761/0000.jpg", "droid_molmo_sam2/images/episode_39761/0182.jpg", "droid_molmo_sam2/images/episode_39761/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pump bottle and put it on the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pump bottle and put it on the cabinet, execute the following phases: 1) Initial approach phase (start at [0.769, 0.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.219]). The trajectory involves 250 precise waypoints with total movement distance of 0.983." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39761", "trajectory_length": 250, "key_frame_indices": [ 0, 182, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39761.json" } }, { "id": "droid_molmo_sam2_episode_30428", "task": "Remove the yellow towel from the black box and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30428/0000.jpg", "droid_molmo_sam2/images/episode_30428/0102.jpg", "droid_molmo_sam2/images/episode_30428/0258.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the yellow towel from the black box and place it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the yellow towel from the black box and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.155, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.204, 0.736]). The trajectory involves 259 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30428", "trajectory_length": 259, "key_frame_indices": [ 0, 102, 258 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30428.json" } }, { "id": "droid_molmo_sam2_episode_2778", "task": "Put the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2778/0000.jpg", "droid_molmo_sam2/images/episode_2778/0068.jpg", "droid_molmo_sam2/images/episode_2778/0075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.710, 0.783]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 76 precise waypoints with total movement distance of 0.693." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2778", "trajectory_length": 76, "key_frame_indices": [ 0, 68, 75 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2778.json" } }, { "id": "droid_molmo_sam2_episode_35970", "task": "Put the pink lid on the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35970/0000.jpg", "droid_molmo_sam2/images/episode_35970/0288.jpg", "droid_molmo_sam2/images/episode_35970/0367.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink lid on the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink lid on the bowl, execute the following phases: 1) Initial approach phase (start at [0.598, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.713, 0.490]). The trajectory involves 368 precise waypoints with total movement distance of 1.242." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35970", "trajectory_length": 368, "key_frame_indices": [ 0, 288, 367 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35970.json" } }, { "id": "droid_molmo_sam2_episode_37252", "task": "Move the foil paper on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37252/0000.jpg", "droid_molmo_sam2/images/episode_37252/0107.jpg", "droid_molmo_sam2/images/episode_37252/0440.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the foil paper on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the foil paper on the counter, execute the following phases: 1) Initial approach phase (start at [0.439, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.656]). The trajectory involves 441 precise waypoints with total movement distance of 2.033." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37252", "trajectory_length": 441, "key_frame_indices": [ 0, 107, 440 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37252.json" } }, { "id": "droid_molmo_sam2_episode_1693", "task": "Pick the clothes and put them on the back rest of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1693/0000.jpg", "droid_molmo_sam2/images/episode_1693/0181.jpg", "droid_molmo_sam2/images/episode_1693/0662.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the clothes and put them on the back rest of the chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the clothes and put them on the back rest of the chair, execute the following phases: 1) Initial approach phase (start at [0.548, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.762]). The trajectory involves 663 precise waypoints with total movement distance of 1.574." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1693", "trajectory_length": 663, "key_frame_indices": [ 0, 181, 662 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1693.json" } }, { "id": "droid_molmo_sam2_episode_4526", "task": "Put the items on the table on to the box and the items on the box on to the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4526/0000.jpg", "droid_molmo_sam2/images/episode_4526/1079.jpg", "droid_molmo_sam2/images/episode_4526/1106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the items on the table on to the box and the items on the box on to the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the items on the table on to the box and the items on the box on to the table., execute the following phases: 1) Initial approach phase (start at [0.246, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.203, 0.566]). The trajectory involves 1107 precise waypoints with total movement distance of 3.113." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4526", "trajectory_length": 1107, "key_frame_indices": [ 0, 1079, 1106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4526.json" } }, { "id": "droid_molmo_sam2_episode_36399", "task": "Turn the left switch off", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36399/0000.jpg", "droid_molmo_sam2/images/episode_36399/0074.jpg", "droid_molmo_sam2/images/episode_36399/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the left switch off?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the left switch off, execute the following phases: 1) Initial approach phase (start at [0.588, 0.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 163 precise waypoints with total movement distance of 1.215." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36399", "trajectory_length": 163, "key_frame_indices": [ 0, 74, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36399.json" } }, { "id": "droid_molmo_sam2_episode_7393", "task": "Remove the marker from the mug cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7393/0000.jpg", "droid_molmo_sam2/images/episode_7393/0111.jpg", "droid_molmo_sam2/images/episode_7393/0194.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 [0.514, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.616]). The trajectory involves 195 precise waypoints with total movement distance of 1.474." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7393", "trajectory_length": 195, "key_frame_indices": [ 0, 111, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7393.json" } }, { "id": "droid_molmo_sam2_episode_32700", "task": "Pick up the packets on the lower counter and put them on the upper counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32700/0000.jpg", "droid_molmo_sam2/images/episode_32700/0371.jpg", "droid_molmo_sam2/images/episode_32700/0414.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the packets on the lower counter and put them on the upper counter?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the packets on the lower counter and put them on the upper counter, execute the following phases: 1) Initial approach phase (start at [0.519, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.619]). The trajectory involves 415 precise waypoints with total movement distance of 1.274." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32700", "trajectory_length": 415, "key_frame_indices": [ 0, 371, 414 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32700.json" } }, { "id": "droid_molmo_sam2_episode_7129", "task": "Push the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7129/0000.jpg", "droid_molmo_sam2/images/episode_7129/0098.jpg", "droid_molmo_sam2/images/episode_7129/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the box?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the box, execute the following phases: 1) Initial approach phase (start at [0.467, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.787]). The trajectory involves 123 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7129", "trajectory_length": 123, "key_frame_indices": [ 0, 98, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7129.json" } }, { "id": "droid_molmo_sam2_episode_34107", "task": "Put the orange cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34107/0000.jpg", "droid_molmo_sam2/images/episode_34107/0066.jpg", "droid_molmo_sam2/images/episode_34107/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.406, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.558]). The trajectory involves 158 precise waypoints with total movement distance of 1.210." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34107", "trajectory_length": 158, "key_frame_indices": [ 0, 66, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34107.json" } }, { "id": "droid_molmo_sam2_episode_30951", "task": "Put one candy in the blue cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30951/0000.jpg", "droid_molmo_sam2/images/episode_30951/0027.jpg", "droid_molmo_sam2/images/episode_30951/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put one candy in the blue cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put one candy in the blue cup, execute the following phases: 1) Initial approach phase (start at [0.726, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.723, 0.868]). The trajectory involves 159 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30951", "trajectory_length": 159, "key_frame_indices": [ 0, 27, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30951.json" } }, { "id": "droid_molmo_sam2_episode_3512", "task": "Put the screwdriver in the open drawer then close the open drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3512/0000.jpg", "droid_molmo_sam2/images/episode_3512/0149.jpg", "droid_molmo_sam2/images/episode_3512/0194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the screwdriver in the open drawer then close the open drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the screwdriver in the open drawer then close the open drawer, execute the following phases: 1) Initial approach phase (start at [0.765, 0.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 195 precise waypoints with total movement distance of 1.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3512", "trajectory_length": 195, "key_frame_indices": [ 0, 149, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3512.json" } }, { "id": "droid_molmo_sam2_episode_6195", "task": "Use the towel to clean the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6195/0000.jpg", "droid_molmo_sam2/images/episode_6195/0276.jpg", "droid_molmo_sam2/images/episode_6195/0301.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to clean the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to clean the plate, execute the following phases: 1) Initial approach phase (start at [0.474, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.531, 0.699]). The trajectory involves 302 precise waypoints with total movement distance of 2.112." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6195", "trajectory_length": 302, "key_frame_indices": [ 0, 276, 301 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6195.json" } }, { "id": "droid_molmo_sam2_episode_3831", "task": "Close the kettle lid", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3831/0000.jpg", "droid_molmo_sam2/images/episode_3831/0145.jpg", "droid_molmo_sam2/images/episode_3831/0168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the kettle lid?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the kettle lid, execute the following phases: 1) Initial approach phase (start at [0.531, 0.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 169 precise waypoints with total movement distance of 2.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3831", "trajectory_length": 169, "key_frame_indices": [ 0, 145, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3831.json" } }, { "id": "droid_molmo_sam2_episode_31661", "task": "Turn the blue object around", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31661/0000.jpg", "droid_molmo_sam2/images/episode_31661/0094.jpg", "droid_molmo_sam2/images/episode_31661/0223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the blue object around?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the blue object around, execute the following phases: 1) Initial approach phase (start at [0.502, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.802]). The trajectory involves 224 precise waypoints with total movement distance of 1.217." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31661", "trajectory_length": 224, "key_frame_indices": [ 0, 94, 223 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31661.json" } }, { "id": "droid_molmo_sam2_episode_36893", "task": "Fold the towel in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36893/0000.jpg", "droid_molmo_sam2/images/episode_36893/0231.jpg", "droid_molmo_sam2/images/episode_36893/0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel in half, execute the following phases: 1) Initial approach phase (start at [0.569, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.765]). The trajectory involves 251 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36893", "trajectory_length": 251, "key_frame_indices": [ 0, 231, 250 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36893.json" } }, { "id": "droid_molmo_sam2_episode_7455", "task": "Put the blocks in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7455/0000.jpg", "droid_molmo_sam2/images/episode_7455/0053.jpg", "droid_molmo_sam2/images/episode_7455/0180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blocks in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the blocks in the bowl, execute the following phases: 1) Initial approach phase (start at [0.434, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.434]). The trajectory involves 181 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7455", "trajectory_length": 181, "key_frame_indices": [ 0, 53, 180 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7455.json" } }, { "id": "droid_molmo_sam2_episode_31203", "task": "Push the basketball between the two cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31203/0000.jpg", "droid_molmo_sam2/images/episode_31203/0146.jpg", "droid_molmo_sam2/images/episode_31203/1025.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the basketball between the two cups?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the basketball between the two cups, execute the following phases: 1) Initial approach phase (start at [0.314, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.539, 0.602]). The trajectory involves 1026 precise waypoints with total movement distance of 3.705." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31203", "trajectory_length": 1026, "key_frame_indices": [ 0, 146, 1025 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31203.json" } }, { "id": "droid_molmo_sam2_episode_38967", "task": "Take the orange cup from the table and place it in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38967/0000.jpg", "droid_molmo_sam2/images/episode_38967/0042.jpg", "droid_molmo_sam2/images/episode_38967/0078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange cup from the table and place it in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the orange cup from the table and place it in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.416, 0.706]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.468, 0.560]). The trajectory involves 79 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38967", "trajectory_length": 79, "key_frame_indices": [ 0, 42, 78 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38967.json" } }, { "id": "droid_molmo_sam2_episode_6976", "task": "Pick up the clothe and wipe the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6976/0000.jpg", "droid_molmo_sam2/images/episode_6976/0192.jpg", "droid_molmo_sam2/images/episode_6976/0478.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the clothe and wipe the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the clothe and wipe the pan, execute the following phases: 1) Initial approach phase (start at [0.886, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.844, 0.909]). The trajectory involves 479 precise waypoints with total movement distance of 2.065." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6976", "trajectory_length": 479, "key_frame_indices": [ 0, 192, 478 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6976.json" } }, { "id": "droid_molmo_sam2_episode_2580", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2580/0000.jpg", "droid_molmo_sam2/images/episode_2580/0160.jpg", "droid_molmo_sam2/images/episode_2580/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.610, 0.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.420]). The trajectory involves 167 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2580", "trajectory_length": 167, "key_frame_indices": [ 0, 160, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2580.json" } }, { "id": "droid_molmo_sam2_episode_31436", "task": "Move the plastic bag slightly up on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31436/0000.jpg", "droid_molmo_sam2/images/episode_31436/0076.jpg", "droid_molmo_sam2/images/episode_31436/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plastic bag slightly up on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plastic bag slightly up on the counter, execute the following phases: 1) Initial approach phase (start at [0.504, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.599]). The trajectory involves 99 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31436", "trajectory_length": 99, "key_frame_indices": [ 0, 76, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31436.json" } }, { "id": "droid_molmo_sam2_episode_35850", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35850/0000.jpg", "droid_molmo_sam2/images/episode_35850/0037.jpg", "droid_molmo_sam2/images/episode_35850/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.147, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.147, 0.859]). The trajectory involves 168 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35850", "trajectory_length": 168, "key_frame_indices": [ 0, 37, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35850.json" } }, { "id": "droid_molmo_sam2_episode_39885", "task": "Fold the top left corner of the blue towel towards the center", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39885/0000.jpg", "droid_molmo_sam2/images/episode_39885/0091.jpg", "droid_molmo_sam2/images/episode_39885/0130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the top left corner of the blue towel towards the center?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the top left corner of the blue towel towards the center, execute the following phases: 1) Initial approach phase (start at [0.514, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.617]). The trajectory involves 131 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39885", "trajectory_length": 131, "key_frame_indices": [ 0, 91, 130 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39885.json" } }, { "id": "droid_molmo_sam2_episode_31172", "task": "Slide the orange towel forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31172/0000.jpg", "droid_molmo_sam2/images/episode_31172/0073.jpg", "droid_molmo_sam2/images/episode_31172/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the orange towel forward?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the orange towel forward, execute the following phases: 1) Initial approach phase (start at [0.528, 0.364]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.462]). The trajectory involves 100 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31172", "trajectory_length": 100, "key_frame_indices": [ 0, 73, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31172.json" } }, { "id": "droid_molmo_sam2_episode_2687", "task": "Pick up the piece of paper from the countertop and put it in the black container.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2687/0000.jpg", "droid_molmo_sam2/images/episode_2687/0093.jpg", "droid_molmo_sam2/images/episode_2687/0155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the piece of paper from the countertop and put it in the black container.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the piece of paper from the countertop and put it in the black container., execute the following phases: 1) Initial approach phase (start at [0.702, 0.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.217]). The trajectory involves 156 precise waypoints with total movement distance of 0.677." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2687", "trajectory_length": 156, "key_frame_indices": [ 0, 93, 155 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2687.json" } }, { "id": "droid_molmo_sam2_episode_3059", "task": "Take the black marker out of the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3059/0000.jpg", "droid_molmo_sam2/images/episode_3059/0209.jpg", "droid_molmo_sam2/images/episode_3059/0283.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black marker out of the white mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the black marker out of the white mug, execute the following phases: 1) Initial approach phase (start at [0.539, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.803]). The trajectory involves 284 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3059", "trajectory_length": 284, "key_frame_indices": [ 0, 209, 283 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3059.json" } }, { "id": "droid_molmo_sam2_episode_36714", "task": "Uncover the white pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36714/0000.jpg", "droid_molmo_sam2/images/episode_36714/0105.jpg", "droid_molmo_sam2/images/episode_36714/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Uncover the white pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Uncover the white pot, execute the following phases: 1) Initial approach phase (start at [0.546, 0.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.834]). The trajectory involves 179 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36714", "trajectory_length": 179, "key_frame_indices": [ 0, 105, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36714.json" } }, { "id": "droid_molmo_sam2_episode_3007", "task": "Put the white and yellow bottle on the table into the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3007/0000.jpg", "droid_molmo_sam2/images/episode_3007/0095.jpg", "droid_molmo_sam2/images/episode_3007/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white and yellow bottle on the table into the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white and yellow bottle on the table into the box, execute the following phases: 1) Initial approach phase (start at [0.502, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.656]). The trajectory involves 171 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3007", "trajectory_length": 171, "key_frame_indices": [ 0, 95, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3007.json" } }, { "id": "droid_molmo_sam2_episode_3732", "task": "Put the pink can upright on the paper", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3732/0000.jpg", "droid_molmo_sam2/images/episode_3732/0147.jpg", "droid_molmo_sam2/images/episode_3732/0262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pink can upright on the paper?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pink can upright on the paper, execute the following phases: 1) Initial approach phase (start at [0.428, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.643]). The trajectory involves 263 precise waypoints with total movement distance of 0.946." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3732", "trajectory_length": 263, "key_frame_indices": [ 0, 147, 262 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3732.json" } }, { "id": "droid_molmo_sam2_episode_2420", "task": "Put the purple and red toys in the black box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2420/0000.jpg", "droid_molmo_sam2/images/episode_2420/0122.jpg", "droid_molmo_sam2/images/episode_2420/0379.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple and red toys in the black box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple and red toys in the black box, execute the following phases: 1) Initial approach phase (start at [0.698, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.604, 0.779]). The trajectory involves 380 precise waypoints with total movement distance of 0.872." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2420", "trajectory_length": 380, "key_frame_indices": [ 0, 122, 379 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2420.json" } }, { "id": "droid_molmo_sam2_episode_3159", "task": "Open the top drawer of the beige file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3159/0000.jpg", "droid_molmo_sam2/images/episode_3159/0119.jpg", "droid_molmo_sam2/images/episode_3159/0172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the top drawer of the beige file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the top drawer of the beige file cabinet, execute the following phases: 1) Initial approach phase (start at [0.675, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.834, 0.692]). The trajectory involves 173 precise waypoints with total movement distance of 1.077." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3159", "trajectory_length": 173, "key_frame_indices": [ 0, 119, 172 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3159.json" } }, { "id": "droid_molmo_sam2_episode_36905", "task": "Pick the paper and put it in the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36905/0000.jpg", "droid_molmo_sam2/images/episode_36905/0059.jpg", "droid_molmo_sam2/images/episode_36905/0104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the paper and put it in the bin?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the paper and put it in the bin, execute the following phases: 1) Initial approach phase (start at [0.554, 0.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.554, 0.277]). The trajectory involves 105 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36905", "trajectory_length": 105, "key_frame_indices": [ 0, 59, 104 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36905.json" } }, { "id": "droid_molmo_sam2_episode_6532", "task": "Move the box to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6532/0000.jpg", "droid_molmo_sam2/images/episode_6532/0385.jpg", "droid_molmo_sam2/images/episode_6532/0488.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the box to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the box to the left, execute the following phases: 1) Initial approach phase (start at [0.637, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.895]). The trajectory involves 489 precise waypoints with total movement distance of 2.745." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6532", "trajectory_length": 489, "key_frame_indices": [ 0, 385, 488 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6532.json" } }, { "id": "droid_molmo_sam2_episode_883", "task": "Take the gloves off the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_883/0000.jpg", "droid_molmo_sam2/images/episode_883/0267.jpg", "droid_molmo_sam2/images/episode_883/0465.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the gloves off the tap?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the gloves off the tap, execute the following phases: 1) Initial approach phase (start at [0.449, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.703, 0.770]). The trajectory involves 466 precise waypoints with total movement distance of 1.377." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_883", "trajectory_length": 466, "key_frame_indices": [ 0, 267, 465 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_883.json" } }, { "id": "droid_molmo_sam2_episode_3992", "task": "Put the blue lego brick in the open drawer then close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3992/0000.jpg", "droid_molmo_sam2/images/episode_3992/0141.jpg", "droid_molmo_sam2/images/episode_3992/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the blue lego brick in the open drawer then close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Put the blue lego brick in the open drawer then close the drawer, execute the following phases: 1) Initial approach phase (start at [0.268, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 158 precise waypoints with total movement distance of 0.876." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3992", "trajectory_length": 158, "key_frame_indices": [ 0, 141, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3992.json" } }, { "id": "droid_molmo_sam2_episode_3100", "task": "Take the marker out of the white cup and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3100/0000.jpg", "droid_molmo_sam2/images/episode_3100/0176.jpg", "droid_molmo_sam2/images/episode_3100/0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the white cup and place it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the white cup and place it on the table, execute the following phases: 1) Initial approach phase (start at [0.645, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.645, 0.674]). The trajectory involves 247 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3100", "trajectory_length": 247, "key_frame_indices": [ 0, 176, 246 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3100.json" } }, { "id": "droid_molmo_sam2_episode_3327", "task": "Take the marker from the table and place it in the silver pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3327/0000.jpg", "droid_molmo_sam2/images/episode_3327/0120.jpg", "droid_molmo_sam2/images/episode_3327/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker from the table and place it in the silver pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker from the table and place it in the silver pot, execute the following phases: 1) Initial approach phase (start at [0.527, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.492]). The trajectory involves 163 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3327", "trajectory_length": 163, "key_frame_indices": [ 0, 120, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3327.json" } }, { "id": "droid_molmo_sam2_episode_4050", "task": "Place the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4050/0000.jpg", "droid_molmo_sam2/images/episode_4050/0141.jpg", "droid_molmo_sam2/images/episode_4050/0147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.517, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.285]). The trajectory involves 148 precise waypoints with total movement distance of 1.085." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4050", "trajectory_length": 148, "key_frame_indices": [ 0, 141, 147 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4050.json" } }, { "id": "droid_molmo_sam2_episode_31417", "task": "Hang the object on the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31417/0000.jpg", "droid_molmo_sam2/images/episode_31417/0209.jpg", "droid_molmo_sam2/images/episode_31417/0246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the object on the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the object on the chair, execute the following phases: 1) Initial approach phase (start at [0.535, 0.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.547, 0.367]). The trajectory involves 247 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31417", "trajectory_length": 247, "key_frame_indices": [ 0, 209, 246 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31417.json" } }, { "id": "droid_molmo_sam2_episode_7059", "task": "Close the door of the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7059/0000.jpg", "droid_molmo_sam2/images/episode_7059/0093.jpg", "droid_molmo_sam2/images/episode_7059/0105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the door of the cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the door of the cabinet, execute the following phases: 1) Initial approach phase (start at [0.494, 0.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.401]). The trajectory involves 106 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7059", "trajectory_length": 106, "key_frame_indices": [ 0, 93, 105 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7059.json" } }, { "id": "droid_molmo_sam2_episode_34811", "task": "Unfold the orange cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34811/0000.jpg", "droid_molmo_sam2/images/episode_34811/0437.jpg", "droid_molmo_sam2/images/episode_34811/0475.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the orange cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the orange cloth, execute the following phases: 1) Initial approach phase (start at [0.630, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.513]). The trajectory involves 476 precise waypoints with total movement distance of 1.073." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34811", "trajectory_length": 476, "key_frame_indices": [ 0, 437, 475 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34811.json" } }, { "id": "droid_molmo_sam2_episode_84", "task": "Put the white cloth on the seat of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_84/0000.jpg", "droid_molmo_sam2/images/episode_84/0160.jpg", "droid_molmo_sam2/images/episode_84/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the seat of the chair?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cloth on the seat of the chair, execute the following phases: 1) Initial approach phase (start at [0.565, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.726]). The trajectory involves 228 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_84", "trajectory_length": 228, "key_frame_indices": [ 0, 160, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_84.json" } }, { "id": "droid_molmo_sam2_episode_36795", "task": "Put the white shirt on top of the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36795/0000.jpg", "droid_molmo_sam2/images/episode_36795/0189.jpg", "droid_molmo_sam2/images/episode_36795/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white shirt on top of the chair.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white shirt on top of the chair., execute the following phases: 1) Initial approach phase (start at [0.431, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.506]). The trajectory involves 230 precise waypoints with total movement distance of 0.958." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36795", "trajectory_length": 230, "key_frame_indices": [ 0, 189, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36795.json" } }, { "id": "droid_molmo_sam2_episode_6832", "task": "Move the silver bowl to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6832/0000.jpg", "droid_molmo_sam2/images/episode_6832/0192.jpg", "droid_molmo_sam2/images/episode_6832/0352.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 [0.447, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.241, 0.409]). The trajectory involves 353 precise waypoints with total movement distance of 1.175." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6832", "trajectory_length": 353, "key_frame_indices": [ 0, 192, 352 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6832.json" } }, { "id": "droid_molmo_sam2_episode_33213", "task": "Put the black shirt on the chair in the white bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33213/0000.jpg", "droid_molmo_sam2/images/episode_33213/0157.jpg", "droid_molmo_sam2/images/episode_33213/0204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black shirt on the chair in the white bin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black shirt on the chair in the white bin, execute the following phases: 1) Initial approach phase (start at [0.493, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.735]). The trajectory involves 205 precise waypoints with total movement distance of 2.051." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33213", "trajectory_length": 205, "key_frame_indices": [ 0, 157, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33213.json" } }, { "id": "droid_molmo_sam2_episode_1302", "task": "Move the faucet nozzle to the center", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1302/0000.jpg", "droid_molmo_sam2/images/episode_1302/0133.jpg", "droid_molmo_sam2/images/episode_1302/0200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the faucet nozzle to the center?" }, { "from": "gpt", "value": "To complete this repositioning: Move the faucet nozzle to the center, execute the following phases: 1) Initial approach phase (start at [0.710, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.627]). The trajectory involves 201 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1302", "trajectory_length": 201, "key_frame_indices": [ 0, 133, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1302.json" } }, { "id": "droid_molmo_sam2_episode_30523", "task": "Move the marker forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30523/0000.jpg", "droid_molmo_sam2/images/episode_30523/0101.jpg", "droid_molmo_sam2/images/episode_30523/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker forward, execute the following phases: 1) Initial approach phase (start at [0.687, 0.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.862, 0.510]). The trajectory involves 132 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30523", "trajectory_length": 132, "key_frame_indices": [ 0, 101, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30523.json" } }, { "id": "droid_molmo_sam2_episode_2748", "task": "Pick up the shirt on the chair and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2748/0000.jpg", "droid_molmo_sam2/images/episode_2748/0092.jpg", "droid_molmo_sam2/images/episode_2748/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the shirt on the chair and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the shirt on the chair and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.629, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.892]). The trajectory involves 102 precise waypoints with total movement distance of 0.475." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2748", "trajectory_length": 102, "key_frame_indices": [ 0, 92, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2748.json" } }, { "id": "droid_molmo_sam2_episode_6111", "task": "Close the top drawer of the white file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6111/0000.jpg", "droid_molmo_sam2/images/episode_6111/0065.jpg", "droid_molmo_sam2/images/episode_6111/0079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the top drawer of the white file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the top drawer of the white file cabinet, execute the following phases: 1) Initial approach phase (start at [0.474, 0.710]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.713]). The trajectory involves 80 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6111", "trajectory_length": 80, "key_frame_indices": [ 0, 65, 79 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6111.json" } }, { "id": "droid_molmo_sam2_episode_3147", "task": "Pick the stuffed fruits on the tray and put them on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3147/0000.jpg", "droid_molmo_sam2/images/episode_3147/0373.jpg", "droid_molmo_sam2/images/episode_3147/0692.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the stuffed fruits on the tray and put them on the plate?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the stuffed fruits on the tray and put them on the plate, execute the following phases: 1) Initial approach phase (start at [0.499, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.801]). The trajectory involves 693 precise waypoints with total movement distance of 2.565." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3147", "trajectory_length": 693, "key_frame_indices": [ 0, 373, 692 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3147.json" } }, { "id": "droid_molmo_sam2_episode_36695", "task": "Move the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36695/0000.jpg", "droid_molmo_sam2/images/episode_36695/0101.jpg", "droid_molmo_sam2/images/episode_36695/0189.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 [0.595, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.512]). The trajectory involves 190 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36695", "trajectory_length": 190, "key_frame_indices": [ 0, 101, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36695.json" } }, { "id": "droid_molmo_sam2_episode_33623", "task": "Pick up the tissue paper from the box and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33623/0000.jpg", "droid_molmo_sam2/images/episode_33623/0138.jpg", "droid_molmo_sam2/images/episode_33623/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the tissue paper from the box and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the tissue paper from the box and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.639, 0.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.389]). The trajectory involves 170 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33623", "trajectory_length": 170, "key_frame_indices": [ 0, 138, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33623.json" } }, { "id": "droid_molmo_sam2_episode_6008", "task": "Fully open the bottom drawer on the beige filing cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6008/0000.jpg", "droid_molmo_sam2/images/episode_6008/0137.jpg", "droid_molmo_sam2/images/episode_6008/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fully open the bottom drawer on the beige filing cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Fully open the bottom drawer on the beige filing cabinet, execute the following phases: 1) Initial approach phase (start at [0.564, 0.911]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.884]). The trajectory involves 141 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6008", "trajectory_length": 141, "key_frame_indices": [ 0, 137, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6008.json" } }, { "id": "droid_molmo_sam2_episode_621", "task": "Stretch the rope on the platform", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_621/0000.jpg", "droid_molmo_sam2/images/episode_621/0093.jpg", "droid_molmo_sam2/images/episode_621/0239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stretch the rope on the platform?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stretch the rope on the platform, execute the following phases: 1) Initial approach phase (start at [0.396, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.773]). The trajectory involves 240 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_621", "trajectory_length": 240, "key_frame_indices": [ 0, 93, 239 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_621.json" } }, { "id": "droid_molmo_sam2_episode_35815", "task": "Move the blue cloth to the wild", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35815/0000.jpg", "droid_molmo_sam2/images/episode_35815/0279.jpg", "droid_molmo_sam2/images/episode_35815/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue cloth to the wild?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue cloth to the wild, execute the following phases: 1) Initial approach phase (start at [0.539, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.668]). The trajectory involves 308 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35815", "trajectory_length": 308, "key_frame_indices": [ 0, 279, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35815.json" } }, { "id": "droid_molmo_sam2_episode_668", "task": "Fold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_668/0000.jpg", "droid_molmo_sam2/images/episode_668/0224.jpg", "droid_molmo_sam2/images/episode_668/0557.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the towel, execute the following phases: 1) Initial approach phase (start at [0.531, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.900]). The trajectory involves 558 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_668", "trajectory_length": 558, "key_frame_indices": [ 0, 224, 557 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_668.json" } }, { "id": "droid_molmo_sam2_episode_30544", "task": "Take the lid off the pot and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30544/0000.jpg", "droid_molmo_sam2/images/episode_30544/0192.jpg", "droid_molmo_sam2/images/episode_30544/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid off the pot and put it on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid off the pot and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.333, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.920]). The trajectory involves 271 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30544", "trajectory_length": 271, "key_frame_indices": [ 0, 192, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30544.json" } }, { "id": "droid_molmo_sam2_episode_3323", "task": "Open the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3323/0000.jpg", "droid_molmo_sam2/images/episode_3323/0001.jpg", "droid_molmo_sam2/images/episode_3323/0137.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 [0.507, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.560]). The trajectory involves 138 precise waypoints with total movement distance of 0.099." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3323", "trajectory_length": 138, "key_frame_indices": [ 0, 1, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3323.json" } }, { "id": "droid_molmo_sam2_episode_31757", "task": "Pick up the white and blue towel, set the towel down and fold it three times over", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31757/0000.jpg", "droid_molmo_sam2/images/episode_31757/0119.jpg", "droid_molmo_sam2/images/episode_31757/0364.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the white and blue towel, set the towel down and fold it three times over?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the white and blue towel, set the towel down and fold it three times over, execute the following phases: 1) Initial approach phase (start at [0.562, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.693]). The trajectory involves 365 precise waypoints with total movement distance of 2.160." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31757", "trajectory_length": 365, "key_frame_indices": [ 0, 119, 364 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31757.json" } }, { "id": "droid_molmo_sam2_episode_4409", "task": "Pick up the tissue from the bottle and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4409/0000.jpg", "droid_molmo_sam2/images/episode_4409/0097.jpg", "droid_molmo_sam2/images/episode_4409/0136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the tissue from the bottle and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the tissue from the bottle and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.874, 0.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.898, 0.430]). The trajectory involves 137 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4409", "trajectory_length": 137, "key_frame_indices": [ 0, 97, 136 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4409.json" } }, { "id": "droid_molmo_sam2_episode_6342", "task": "Open the bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6342/0000.jpg", "droid_molmo_sam2/images/episode_6342/0332.jpg", "droid_molmo_sam2/images/episode_6342/0393.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the bin?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the bin, execute the following phases: 1) Initial approach phase (start at [0.765, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.767, 0.737]). The trajectory involves 394 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6342", "trajectory_length": 394, "key_frame_indices": [ 0, 332, 393 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6342.json" } }, { "id": "droid_molmo_sam2_episode_3256", "task": "Pour the things in the green cup onto the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3256/0000.jpg", "droid_molmo_sam2/images/episode_3256/0537.jpg", "droid_molmo_sam2/images/episode_3256/0559.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the green cup onto the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the things in the green cup onto the plate, execute the following phases: 1) Initial approach phase (start at [0.710, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.463]). The trajectory involves 560 precise waypoints with total movement distance of 3.701." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3256", "trajectory_length": 560, "key_frame_indices": [ 0, 537, 559 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3256.json" } }, { "id": "droid_molmo_sam2_episode_36829", "task": "Put the glove on the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36829/0000.jpg", "droid_molmo_sam2/images/episode_36829/0223.jpg", "droid_molmo_sam2/images/episode_36829/0359.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the glove on the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the glove on the sink, execute the following phases: 1) Initial approach phase (start at [0.705, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 0.759]). The trajectory involves 360 precise waypoints with total movement distance of 1.563." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36829", "trajectory_length": 360, "key_frame_indices": [ 0, 223, 359 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36829.json" } }, { "id": "droid_molmo_sam2_episode_2088", "task": "Remove the clothing from the armrest of the chair and place it on the sofa", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2088/0000.jpg", "droid_molmo_sam2/images/episode_2088/0116.jpg", "droid_molmo_sam2/images/episode_2088/0125.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the clothing from the armrest of the chair and place it on the sofa, execute the following phases: 1) Initial approach phase (start at [0.642, 0.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.910, 0.539]). The trajectory involves 126 precise waypoints with total movement distance of 0.990." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2088", "trajectory_length": 126, "key_frame_indices": [ 0, 116, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2088.json" } }, { "id": "droid_molmo_sam2_episode_6094", "task": "Pick up the orange tokens from the table and put them in the white cup. Put the yellow tokens in the colourless cup.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6094/0000.jpg", "droid_molmo_sam2/images/episode_6094/0256.jpg", "droid_molmo_sam2/images/episode_6094/0676.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange tokens from the table and put them in the white cup. Put the yellow tokens in the colourless cup.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange tokens from the table and put them in the white cup. Put the yellow tokens in the colourless cup., execute the following phases: 1) Initial approach phase (start at [0.415, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.753]). The trajectory involves 677 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6094", "trajectory_length": 677, "key_frame_indices": [ 0, 256, 676 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6094.json" } }, { "id": "droid_molmo_sam2_episode_334", "task": "Pick up the marker and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_334/0000.jpg", "droid_molmo_sam2/images/episode_334/0084.jpg", "droid_molmo_sam2/images/episode_334/0123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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, execute the following phases: 1) Initial approach phase (start at [0.678, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.498, 0.480]). The trajectory involves 124 precise waypoints with total movement distance of 0.647." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_334", "trajectory_length": 124, "key_frame_indices": [ 0, 84, 123 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_334.json" } }, { "id": "droid_molmo_sam2_episode_30937", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30937/0000.jpg", "droid_molmo_sam2/images/episode_30937/0263.jpg", "droid_molmo_sam2/images/episode_30937/0315.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.506, 0.964]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.742]). The trajectory involves 316 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30937", "trajectory_length": 316, "key_frame_indices": [ 0, 263, 315 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30937.json" } }, { "id": "droid_molmo_sam2_episode_54", "task": "Pour the contents of the left bowl into the right bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_54/0000.jpg", "droid_molmo_sam2/images/episode_54/0575.jpg", "droid_molmo_sam2/images/episode_54/0636.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents of the left bowl into the right bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents of the left bowl into the right bowl, execute the following phases: 1) Initial approach phase (start at [0.407, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.672]). The trajectory involves 637 precise waypoints with total movement distance of 1.458." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_54", "trajectory_length": 637, "key_frame_indices": [ 0, 575, 636 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_54.json" } }, { "id": "droid_molmo_sam2_episode_7171", "task": "Remove the lid from the silver object.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7171/0000.jpg", "droid_molmo_sam2/images/episode_7171/0247.jpg", "droid_molmo_sam2/images/episode_7171/0273.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid from the silver object.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid from the silver object., execute the following phases: 1) Initial approach phase (start at [0.792, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.817, 0.673]). The trajectory involves 274 precise waypoints with total movement distance of 0.883." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7171", "trajectory_length": 274, "key_frame_indices": [ 0, 247, 273 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7171.json" } }, { "id": "droid_molmo_sam2_episode_35530", "task": "Move the pen to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35530/0000.jpg", "droid_molmo_sam2/images/episode_35530/0150.jpg", "droid_molmo_sam2/images/episode_35530/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pen to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pen to the right, execute the following phases: 1) Initial approach phase (start at [0.529, 0.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.853]). The trajectory involves 163 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35530", "trajectory_length": 163, "key_frame_indices": [ 0, 150, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35530.json" } }, { "id": "droid_molmo_sam2_episode_6460", "task": "Take the metal can out of the kitchen sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6460/0000.jpg", "droid_molmo_sam2/images/episode_6460/0073.jpg", "droid_molmo_sam2/images/episode_6460/0199.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_molmo_sam2 manipulation: Take the metal can out of the kitchen sink, execute the following phases: 1) Initial approach phase (start at [0.551, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.844]). The trajectory involves 200 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6460", "trajectory_length": 200, "key_frame_indices": [ 0, 73, 199 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6460.json" } }, { "id": "droid_molmo_sam2_episode_32222", "task": "Pick up the red-blue box and put it in the bigger box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32222/0000.jpg", "droid_molmo_sam2/images/episode_32222/0233.jpg", "droid_molmo_sam2/images/episode_32222/0345.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the red-blue box and put it in the bigger box?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the red-blue box and put it in the bigger box, execute the following phases: 1) Initial approach phase (start at [0.518, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.154, 0.379]). The trajectory involves 346 precise waypoints with total movement distance of 1.272." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32222", "trajectory_length": 346, "key_frame_indices": [ 0, 233, 345 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32222.json" } }, { "id": "droid_molmo_sam2_episode_1026", "task": "Put the book on the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1026/0000.jpg", "droid_molmo_sam2/images/episode_1026/0161.jpg", "droid_molmo_sam2/images/episode_1026/0265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the book on the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the book on the shelf, execute the following phases: 1) Initial approach phase (start at [0.291, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.278, 0.378]). The trajectory involves 266 precise waypoints with total movement distance of 0.974." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1026", "trajectory_length": 266, "key_frame_indices": [ 0, 161, 265 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1026.json" } }, { "id": "droid_molmo_sam2_episode_33334", "task": "Move the white bowl to the back of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33334/0000.jpg", "droid_molmo_sam2/images/episode_33334/0061.jpg", "droid_molmo_sam2/images/episode_33334/0122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white bowl to the back of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white bowl to the back of the table, execute the following phases: 1) Initial approach phase (start at [0.565, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.578]). The trajectory involves 123 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33334", "trajectory_length": 123, "key_frame_indices": [ 0, 61, 122 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33334.json" } }, { "id": "droid_molmo_sam2_episode_1255", "task": "Place the blue marker inside the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1255/0000.jpg", "droid_molmo_sam2/images/episode_1255/0191.jpg", "droid_molmo_sam2/images/episode_1255/0315.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue marker inside the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the blue marker inside the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.535, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.465]). The trajectory involves 316 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1255", "trajectory_length": 316, "key_frame_indices": [ 0, 191, 315 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1255.json" } }, { "id": "droid_molmo_sam2_episode_6615", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6615/0000.jpg", "droid_molmo_sam2/images/episode_6615/0133.jpg", "droid_molmo_sam2/images/episode_6615/0226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.383, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 227 precise waypoints with total movement distance of 1.299." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6615", "trajectory_length": 227, "key_frame_indices": [ 0, 133, 226 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6615.json" } }, { "id": "droid_molmo_sam2_episode_4408", "task": "Pick up the headphones and place them at the edge of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4408/0000.jpg", "droid_molmo_sam2/images/episode_4408/0076.jpg", "droid_molmo_sam2/images/episode_4408/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the headphones and place them at the edge of the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the headphones and place them at the edge of the table, execute the following phases: 1) Initial approach phase (start at [0.708, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.874, 0.661]). The trajectory involves 110 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4408", "trajectory_length": 110, "key_frame_indices": [ 0, 76, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4408.json" } }, { "id": "droid_molmo_sam2_episode_6704", "task": "Stack the three cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6704/0000.jpg", "droid_molmo_sam2/images/episode_6704/0109.jpg", "droid_molmo_sam2/images/episode_6704/0279.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the three cups?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the three cups, execute the following phases: 1) Initial approach phase (start at [0.681, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.616]). The trajectory involves 280 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6704", "trajectory_length": 280, "key_frame_indices": [ 0, 109, 279 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6704.json" } }, { "id": "droid_molmo_sam2_episode_31683", "task": "Remove the marker from the mug and put it on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31683/0000.jpg", "droid_molmo_sam2/images/episode_31683/0105.jpg", "droid_molmo_sam2/images/episode_31683/0144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the mug and put it on the counter?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the mug and put it on the counter, execute the following phases: 1) Initial approach phase (start at [0.772, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.582]). The trajectory involves 145 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31683", "trajectory_length": 145, "key_frame_indices": [ 0, 105, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31683.json" } }, { "id": "droid_molmo_sam2_episode_34678", "task": "Wipe a section of the table with the orange towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34678/0000.jpg", "droid_molmo_sam2/images/episode_34678/0162.jpg", "droid_molmo_sam2/images/episode_34678/0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe a section of the table with the orange towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe a section of the table with the orange towel, execute the following phases: 1) Initial approach phase (start at [0.458, 0.846]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.781]). The trajectory involves 239 precise waypoints with total movement distance of 0.766." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34678", "trajectory_length": 239, "key_frame_indices": [ 0, 162, 238 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34678.json" } }, { "id": "droid_molmo_sam2_episode_1235", "task": "Turn the right light switch on", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1235/0000.jpg", "droid_molmo_sam2/images/episode_1235/0144.jpg", "droid_molmo_sam2/images/episode_1235/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the right light switch on?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the right light switch on, execute the following phases: 1) Initial approach phase (start at [0.586, 0.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.139]). The trajectory involves 153 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1235", "trajectory_length": 153, "key_frame_indices": [ 0, 144, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1235.json" } }, { "id": "droid_molmo_sam2_episode_3010", "task": "Put the towel on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3010/0000.jpg", "droid_molmo_sam2/images/episode_3010/0183.jpg", "droid_molmo_sam2/images/episode_3010/0417.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the countertop, execute the following phases: 1) Initial approach phase (start at [0.451, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.473, 0.599]). The trajectory involves 418 precise waypoints with total movement distance of 3.061." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3010", "trajectory_length": 418, "key_frame_indices": [ 0, 183, 417 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3010.json" } }, { "id": "droid_molmo_sam2_episode_31016", "task": "place the can in the sink from the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31016/0000.jpg", "droid_molmo_sam2/images/episode_31016/0123.jpg", "droid_molmo_sam2/images/episode_31016/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: place the can in the sink from the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: place the can in the sink from the counter, execute the following phases: 1) Initial approach phase (start at [0.338, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.871]). The trajectory involves 193 precise waypoints with total movement distance of 0.495." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31016", "trajectory_length": 193, "key_frame_indices": [ 0, 123, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31016.json" } }, { "id": "droid_molmo_sam2_episode_38458", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38458/0000.jpg", "droid_molmo_sam2/images/episode_38458/0059.jpg", "droid_molmo_sam2/images/episode_38458/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.481, 0.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.672]). The trajectory involves 112 precise waypoints with total movement distance of 0.399." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38458", "trajectory_length": 112, "key_frame_indices": [ 0, 59, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38458.json" } }, { "id": "droid_molmo_sam2_episode_548", "task": "Open the right cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_548/0000.jpg", "droid_molmo_sam2/images/episode_548/0032.jpg", "droid_molmo_sam2/images/episode_548/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the right cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the right cabinet door, execute the following phases: 1) Initial approach phase (start at [0.675, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 0.733]). The trajectory involves 126 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_548", "trajectory_length": 126, "key_frame_indices": [ 0, 32, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_548.json" } }, { "id": "droid_molmo_sam2_episode_38463", "task": "Put the black tape on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38463/0000.jpg", "droid_molmo_sam2/images/episode_38463/0097.jpg", "droid_molmo_sam2/images/episode_38463/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black tape on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black tape on the plate, execute the following phases: 1) Initial approach phase (start at [0.494, 0.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.511]). The trajectory involves 126 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38463", "trajectory_length": 126, "key_frame_indices": [ 0, 97, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38463.json" } }, { "id": "droid_molmo_sam2_episode_36629", "task": "Slide the towel slightly to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36629/0000.jpg", "droid_molmo_sam2/images/episode_36629/0110.jpg", "droid_molmo_sam2/images/episode_36629/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.665, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.557]). The trajectory involves 133 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36629", "trajectory_length": 133, "key_frame_indices": [ 0, 110, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36629.json" } }, { "id": "droid_molmo_sam2_episode_1663", "task": "Place the black t-shirt on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1663/0000.jpg", "droid_molmo_sam2/images/episode_1663/0092.jpg", "droid_molmo_sam2/images/episode_1663/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the black t-shirt on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the black t-shirt on the table, execute the following phases: 1) Initial approach phase (start at [0.606, 0.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.403]). The trajectory involves 142 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1663", "trajectory_length": 142, "key_frame_indices": [ 0, 92, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1663.json" } }, { "id": "droid_molmo_sam2_episode_39021", "task": "Place the towel in the basket and push it down", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39021/0000.jpg", "droid_molmo_sam2/images/episode_39021/0337.jpg", "droid_molmo_sam2/images/episode_39021/0468.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the towel in the basket and push it down?" }, { "from": "gpt", "value": "To complete this button/switch activation: Place the towel in the basket and push it down, execute the following phases: 1) Initial approach phase (start at [0.184, 0.853]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.677]). The trajectory involves 469 precise waypoints with total movement distance of 1.646." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39021", "trajectory_length": 469, "key_frame_indices": [ 0, 337, 468 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39021.json" } }, { "id": "droid_molmo_sam2_episode_33039", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33039/0000.jpg", "droid_molmo_sam2/images/episode_33039/0059.jpg", "droid_molmo_sam2/images/episode_33039/0085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.380, 0.660]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.529]). The trajectory involves 86 precise waypoints with total movement distance of 0.460." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33039", "trajectory_length": 86, "key_frame_indices": [ 0, 59, 85 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33039.json" } }, { "id": "droid_molmo_sam2_episode_36218", "task": "Unfold the green towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36218/0000.jpg", "droid_molmo_sam2/images/episode_36218/0091.jpg", "droid_molmo_sam2/images/episode_36218/0135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the green towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the green towel, execute the following phases: 1) Initial approach phase (start at [0.358, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.580]). The trajectory involves 136 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36218", "trajectory_length": 136, "key_frame_indices": [ 0, 91, 135 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36218.json" } }, { "id": "droid_molmo_sam2_episode_30365", "task": "Flip the the switch on the wall to turn off the light.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30365/0000.jpg", "droid_molmo_sam2/images/episode_30365/0079.jpg", "droid_molmo_sam2/images/episode_30365/0101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Flip the the switch on the wall to turn off the light.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Flip the the switch on the wall to turn off the light., execute the following phases: 1) Initial approach phase (start at [0.570, 0.136]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 102 precise waypoints with total movement distance of 0.442." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30365", "trajectory_length": 102, "key_frame_indices": [ 0, 79, 101 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30365.json" } }, { "id": "droid_molmo_sam2_episode_6023", "task": "Pick the tool with the orange handle and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6023/0000.jpg", "droid_molmo_sam2/images/episode_6023/0080.jpg", "droid_molmo_sam2/images/episode_6023/0113.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 [0.621, 0.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.628]). The trajectory involves 114 precise waypoints with total movement distance of 0.112." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6023", "trajectory_length": 114, "key_frame_indices": [ 0, 80, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6023.json" } }, { "id": "droid_molmo_sam2_episode_36594", "task": "Put the red can in the sink on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36594/0000.jpg", "droid_molmo_sam2/images/episode_36594/0198.jpg", "droid_molmo_sam2/images/episode_36594/0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red can in the sink on the left.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red can in the sink on the left., execute the following phases: 1) Initial approach phase (start at [0.294, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.920]). The trajectory involves 231 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36594", "trajectory_length": 231, "key_frame_indices": [ 0, 198, 230 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36594.json" } }, { "id": "droid_molmo_sam2_episode_37404", "task": "Pick the white towel on the counter and put it on the stove", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37404/0000.jpg", "droid_molmo_sam2/images/episode_37404/0107.jpg", "droid_molmo_sam2/images/episode_37404/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the white towel on the counter and put it on the stove?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the white towel on the counter and put it on the stove, execute the following phases: 1) Initial approach phase (start at [0.367, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.785]). The trajectory involves 202 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37404", "trajectory_length": 202, "key_frame_indices": [ 0, 107, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37404.json" } }, { "id": "droid_molmo_sam2_episode_31950", "task": "Move the black basket to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31950/0000.jpg", "droid_molmo_sam2/images/episode_31950/0076.jpg", "droid_molmo_sam2/images/episode_31950/0149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black basket to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black basket to the left, execute the following phases: 1) Initial approach phase (start at [0.509, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.691]). The trajectory involves 150 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31950", "trajectory_length": 150, "key_frame_indices": [ 0, 76, 149 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31950.json" } }, { "id": "droid_molmo_sam2_episode_32275", "task": "Pick up the two small books from the table and put them in the black bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32275/0000.jpg", "droid_molmo_sam2/images/episode_32275/0169.jpg", "droid_molmo_sam2/images/episode_32275/0476.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the two small books from the table and put them in the black bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the two small books from the table and put them in the black bowl., execute the following phases: 1) Initial approach phase (start at [0.607, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.885]). The trajectory involves 477 precise waypoints with total movement distance of 1.997." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32275", "trajectory_length": 477, "key_frame_indices": [ 0, 169, 476 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32275.json" } }, { "id": "droid_molmo_sam2_episode_33779", "task": "Stack the right plate in the left plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33779/0000.jpg", "droid_molmo_sam2/images/episode_33779/0133.jpg", "droid_molmo_sam2/images/episode_33779/0215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the right plate in the left plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the right plate in the left plate, execute the following phases: 1) Initial approach phase (start at [0.789, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.682]). The trajectory involves 216 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33779", "trajectory_length": 216, "key_frame_indices": [ 0, 133, 215 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33779.json" } }, { "id": "droid_molmo_sam2_episode_2955", "task": "Move the marker forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2955/0000.jpg", "droid_molmo_sam2/images/episode_2955/0148.jpg", "droid_molmo_sam2/images/episode_2955/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker forward, execute the following phases: 1) Initial approach phase (start at [0.567, 0.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.452]). The trajectory involves 153 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2955", "trajectory_length": 153, "key_frame_indices": [ 0, 148, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2955.json" } }, { "id": "droid_molmo_sam2_episode_3184", "task": "Remove the cup from the other cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3184/0000.jpg", "droid_molmo_sam2/images/episode_3184/0227.jpg", "droid_molmo_sam2/images/episode_3184/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cup from the other cup and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cup from the other cup and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.475, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.824]). The trajectory involves 244 precise waypoints with total movement distance of 0.776." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3184", "trajectory_length": 244, "key_frame_indices": [ 0, 227, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3184.json" } }, { "id": "droid_molmo_sam2_episode_34186", "task": "Pick the orange block and put it on the green block", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34186/0000.jpg", "droid_molmo_sam2/images/episode_34186/0101.jpg", "droid_molmo_sam2/images/episode_34186/0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the orange block and put it on the green block?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the orange block and put it on the green block, execute the following phases: 1) Initial approach phase (start at [0.601, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.565, 0.525]). The trajectory involves 108 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34186", "trajectory_length": 108, "key_frame_indices": [ 0, 101, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34186.json" } }, { "id": "droid_molmo_sam2_episode_35741", "task": "Put the pen inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35741/0000.jpg", "droid_molmo_sam2/images/episode_35741/0137.jpg", "droid_molmo_sam2/images/episode_35741/0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.327, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.633]). The trajectory involves 265 precise waypoints with total movement distance of 1.368." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35741", "trajectory_length": 265, "key_frame_indices": [ 0, 137, 264 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35741.json" } }, { "id": "droid_molmo_sam2_episode_599", "task": "Pick the bottles and objects on the table and put them in the plastic bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_599/0000.jpg", "droid_molmo_sam2/images/episode_599/0780.jpg", "droid_molmo_sam2/images/episode_599/0873.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the bottles and objects on the table and put them in the plastic bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the bottles and objects on the table and put them in the plastic bag, execute the following phases: 1) Initial approach phase (start at [0.522, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.407]). The trajectory involves 874 precise waypoints with total movement distance of 4.196." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_599", "trajectory_length": 874, "key_frame_indices": [ 0, 780, 873 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_599.json" } }, { "id": "droid_molmo_sam2_episode_35233", "task": "Push the pull out table in", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35233/0000.jpg", "droid_molmo_sam2/images/episode_35233/0116.jpg", "droid_molmo_sam2/images/episode_35233/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the pull out table in?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the pull out table in, execute the following phases: 1) Initial approach phase (start at [0.579, 0.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.378]). The trajectory involves 120 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35233", "trajectory_length": 120, "key_frame_indices": [ 0, 116, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35233.json" } }, { "id": "droid_molmo_sam2_episode_30038", "task": "Move the plate slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30038/0000.jpg", "droid_molmo_sam2/images/episode_30038/0221.jpg", "droid_molmo_sam2/images/episode_30038/0339.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the plate slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the plate slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.627, 0.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.606]). The trajectory involves 340 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30038", "trajectory_length": 340, "key_frame_indices": [ 0, 221, 339 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30038.json" } }, { "id": "droid_molmo_sam2_episode_35952", "task": "Unfold the towel from right to left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35952/0000.jpg", "droid_molmo_sam2/images/episode_35952/0359.jpg", "droid_molmo_sam2/images/episode_35952/0440.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel from right to left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel from right to left, execute the following phases: 1) Initial approach phase (start at [0.658, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.723]). The trajectory involves 441 precise waypoints with total movement distance of 0.765." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35952", "trajectory_length": 441, "key_frame_indices": [ 0, 359, 440 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35952.json" } }, { "id": "droid_molmo_sam2_episode_4731", "task": "Move the pot from left to right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4731/0000.jpg", "droid_molmo_sam2/images/episode_4731/0102.jpg", "droid_molmo_sam2/images/episode_4731/0249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pot from left to right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pot from left to right, execute the following phases: 1) Initial approach phase (start at [0.499, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.723, 0.932]). The trajectory involves 250 precise waypoints with total movement distance of 1.200." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4731", "trajectory_length": 250, "key_frame_indices": [ 0, 102, 249 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4731.json" } }, { "id": "droid_molmo_sam2_episode_39853", "task": "Put the pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39853/0000.jpg", "droid_molmo_sam2/images/episode_39853/0316.jpg", "droid_molmo_sam2/images/episode_39853/0412.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.573, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.543, 0.507]). The trajectory involves 413 precise waypoints with total movement distance of 0.890." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39853", "trajectory_length": 413, "key_frame_indices": [ 0, 316, 412 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39853.json" } }, { "id": "droid_molmo_sam2_episode_807", "task": "Move the black cutlery box to the left side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_807/0000.jpg", "droid_molmo_sam2/images/episode_807/0180.jpg", "droid_molmo_sam2/images/episode_807/0264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black cutlery box to the left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black cutlery box to the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.826, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.368]). The trajectory involves 265 precise waypoints with total movement distance of 0.965." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_807", "trajectory_length": 265, "key_frame_indices": [ 0, 180, 264 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_807.json" } }, { "id": "droid_molmo_sam2_episode_4329", "task": "Pick up the yellow and orange circles from the wooden object then put them on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4329/0000.jpg", "droid_molmo_sam2/images/episode_4329/0048.jpg", "droid_molmo_sam2/images/episode_4329/0222.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.?" }, { "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., execute the following phases: 1) Initial approach phase (start at [0.388, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.726]). The trajectory involves 223 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4329", "trajectory_length": 223, "key_frame_indices": [ 0, 48, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4329.json" } }, { "id": "droid_molmo_sam2_episode_32712", "task": "Move the clear bottle forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32712/0000.jpg", "droid_molmo_sam2/images/episode_32712/0122.jpg", "droid_molmo_sam2/images/episode_32712/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the clear bottle forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the clear bottle forward, execute the following phases: 1) Initial approach phase (start at [0.151, 0.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.228, 0.509]). The trajectory involves 190 precise waypoints with total movement distance of 1.081." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32712", "trajectory_length": 190, "key_frame_indices": [ 0, 122, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32712.json" } }, { "id": "droid_molmo_sam2_episode_33869", "task": "Take the lid from the silver pot and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33869/0000.jpg", "droid_molmo_sam2/images/episode_33869/0073.jpg", "droid_molmo_sam2/images/episode_33869/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid from the silver pot and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid from the silver pot and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.575, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.539]). The trajectory involves 119 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33869", "trajectory_length": 119, "key_frame_indices": [ 0, 73, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33869.json" } }, { "id": "droid_molmo_sam2_episode_32667", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32667/0000.jpg", "droid_molmo_sam2/images/episode_32667/0103.jpg", "droid_molmo_sam2/images/episode_32667/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.508, 0.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.462]). The trajectory involves 132 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32667", "trajectory_length": 132, "key_frame_indices": [ 0, 103, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32667.json" } }, { "id": "droid_molmo_sam2_episode_33473", "task": "Move the bowl to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33473/0000.jpg", "droid_molmo_sam2/images/episode_33473/0059.jpg", "droid_molmo_sam2/images/episode_33473/0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl to the right, execute the following phases: 1) Initial approach phase (start at [0.550, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.534, 0.730]). The trajectory involves 91 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33473", "trajectory_length": 91, "key_frame_indices": [ 0, 59, 90 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33473.json" } }, { "id": "droid_molmo_sam2_episode_7474", "task": "Use the white towel to move the objects on the table to the left, then put the towel in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7474/0000.jpg", "droid_molmo_sam2/images/episode_7474/0388.jpg", "droid_molmo_sam2/images/episode_7474/0432.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the white towel to move the objects on the table to the left, then put the towel in the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Use the white towel to move the objects on the table to the left, then put the towel in the bowl, execute the following phases: 1) Initial approach phase (start at [0.296, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.347]). The trajectory involves 433 precise waypoints with total movement distance of 6.187." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7474", "trajectory_length": 433, "key_frame_indices": [ 0, 388, 432 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7474.json" } }, { "id": "droid_molmo_sam2_episode_6819", "task": "Open the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6819/0000.jpg", "droid_molmo_sam2/images/episode_6819/0232.jpg", "droid_molmo_sam2/images/episode_6819/0261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the box?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the box, execute the following phases: 1) Initial approach phase (start at [0.508, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.532]). The trajectory involves 262 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6819", "trajectory_length": 262, "key_frame_indices": [ 0, 232, 261 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6819.json" } }, { "id": "droid_molmo_sam2_episode_36164", "task": "Get one spoon of the objects from the bowl and put it in the light gray cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36164/0000.jpg", "droid_molmo_sam2/images/episode_36164/0404.jpg", "droid_molmo_sam2/images/episode_36164/0447.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get one spoon of the objects from the bowl and put it in the light gray cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get one spoon of the objects from the bowl and put it in the light gray cup, execute the following phases: 1) Initial approach phase (start at [0.375, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.820]). The trajectory involves 448 precise waypoints with total movement distance of 1.801." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36164", "trajectory_length": 448, "key_frame_indices": [ 0, 404, 447 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36164.json" } }, { "id": "droid_molmo_sam2_episode_3034", "task": "Put the glass lid on the black pot.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3034/0000.jpg", "droid_molmo_sam2/images/episode_3034/0132.jpg", "droid_molmo_sam2/images/episode_3034/0209.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_molmo_sam2 manipulation: Put the glass lid on the black pot., execute the following phases: 1) Initial approach phase (start at [0.341, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.288]). The trajectory involves 210 precise waypoints with total movement distance of 0.992." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3034", "trajectory_length": 210, "key_frame_indices": [ 0, 132, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3034.json" } }, { "id": "droid_molmo_sam2_episode_39509", "task": "Fold the bluestripped table cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39509/0000.jpg", "droid_molmo_sam2/images/episode_39509/0091.jpg", "droid_molmo_sam2/images/episode_39509/0477.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the bluestripped table cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the bluestripped table cloth, execute the following phases: 1) Initial approach phase (start at [0.521, 0.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.561]). The trajectory involves 478 precise waypoints with total movement distance of 2.031." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39509", "trajectory_length": 478, "key_frame_indices": [ 0, 91, 477 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39509.json" } }, { "id": "droid_molmo_sam2_episode_31995", "task": "Press the button to open the rice cooker.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31995/0000.jpg", "droid_molmo_sam2/images/episode_31995/0027.jpg", "droid_molmo_sam2/images/episode_31995/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button to open the rice cooker.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Press the button to open the rice cooker., execute the following phases: 1) Initial approach phase (start at [0.396, 0.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.580]). The trajectory involves 196 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31995", "trajectory_length": 196, "key_frame_indices": [ 0, 27, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31995.json" } }, { "id": "droid_molmo_sam2_episode_35408", "task": "Remove the marker from the grey bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35408/0000.jpg", "droid_molmo_sam2/images/episode_35408/0108.jpg", "droid_molmo_sam2/images/episode_35408/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the grey bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the grey bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.514, 0.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.639]). The trajectory involves 178 precise waypoints with total movement distance of 0.756." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35408", "trajectory_length": 178, "key_frame_indices": [ 0, 108, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35408.json" } }, { "id": "droid_molmo_sam2_episode_32679", "task": "Open the cupboard door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32679/0000.jpg", "droid_molmo_sam2/images/episode_32679/0138.jpg", "droid_molmo_sam2/images/episode_32679/0307.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the cupboard door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the cupboard door, execute the following phases: 1) Initial approach phase (start at [0.633, 0.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.364]). The trajectory involves 308 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32679", "trajectory_length": 308, "key_frame_indices": [ 0, 138, 307 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32679.json" } }, { "id": "droid_molmo_sam2_episode_38560", "task": "Close the lower drawer of the file cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38560/0000.jpg", "droid_molmo_sam2/images/episode_38560/0062.jpg", "droid_molmo_sam2/images/episode_38560/0113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the lower drawer of the file cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the lower drawer of the file cabinet, execute the following phases: 1) Initial approach phase (start at [0.562, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.670]). The trajectory involves 114 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38560", "trajectory_length": 114, "key_frame_indices": [ 0, 62, 113 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38560.json" } }, { "id": "droid_molmo_sam2_episode_6853", "task": "Remove the pen from the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6853/0000.jpg", "droid_molmo_sam2/images/episode_6853/0126.jpg", "droid_molmo_sam2/images/episode_6853/0214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: 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 and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.394, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.595]). The trajectory involves 215 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6853", "trajectory_length": 215, "key_frame_indices": [ 0, 126, 214 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6853.json" } }, { "id": "droid_molmo_sam2_episode_3858", "task": "Remove the marker from the cup and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3858/0000.jpg", "droid_molmo_sam2/images/episode_3858/0253.jpg", "droid_molmo_sam2/images/episode_3858/0267.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 [0.716, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.572]). The trajectory involves 268 precise waypoints with total movement distance of 0.442." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3858", "trajectory_length": 268, "key_frame_indices": [ 0, 253, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3858.json" } }, { "id": "droid_molmo_sam2_episode_2900", "task": "Put the marker on top of the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2900/0000.jpg", "droid_molmo_sam2/images/episode_2900/0200.jpg", "droid_molmo_sam2/images/episode_2900/0229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on top of the book?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on top of the book, execute the following phases: 1) Initial approach phase (start at [0.339, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.679]). The trajectory involves 230 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2900", "trajectory_length": 230, "key_frame_indices": [ 0, 200, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2900.json" } }, { "id": "droid_molmo_sam2_episode_36658", "task": "Put the snack pack on the shelf", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36658/0000.jpg", "droid_molmo_sam2/images/episode_36658/0269.jpg", "droid_molmo_sam2/images/episode_36658/0378.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the snack pack on the shelf?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the snack pack on the shelf, execute the following phases: 1) Initial approach phase (start at [0.281, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.284]). The trajectory involves 379 precise waypoints with total movement distance of 1.115." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36658", "trajectory_length": 379, "key_frame_indices": [ 0, 269, 378 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36658.json" } }, { "id": "droid_molmo_sam2_episode_3013", "task": "Put the lid on the black pot to the front right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3013/0000.jpg", "droid_molmo_sam2/images/episode_3013/0138.jpg", "droid_molmo_sam2/images/episode_3013/0260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the black pot to the front right.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the black pot to the front right., execute the following phases: 1) Initial approach phase (start at [0.807, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.815, 0.478]). The trajectory involves 261 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3013", "trajectory_length": 261, "key_frame_indices": [ 0, 138, 260 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3013.json" } }, { "id": "droid_molmo_sam2_episode_30784", "task": "Pick up the orange cup and pour its contents in the silver pot.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30784/0000.jpg", "droid_molmo_sam2/images/episode_30784/0378.jpg", "droid_molmo_sam2/images/episode_30784/0453.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange cup and pour its contents in the silver pot.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the orange cup and pour its contents in the silver pot., execute the following phases: 1) Initial approach phase (start at [0.352, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.754]). The trajectory involves 454 precise waypoints with total movement distance of 2.817." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30784", "trajectory_length": 454, "key_frame_indices": [ 0, 378, 453 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30784.json" } }, { "id": "droid_molmo_sam2_episode_1951", "task": "Open the book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1951/0000.jpg", "droid_molmo_sam2/images/episode_1951/0106.jpg", "droid_molmo_sam2/images/episode_1951/0133.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 [0.839, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.855, 0.543]). The trajectory involves 134 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1951", "trajectory_length": 134, "key_frame_indices": [ 0, 106, 133 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1951.json" } }, { "id": "droid_molmo_sam2_episode_35843", "task": "Place the yellow block in the silver bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35843/0000.jpg", "droid_molmo_sam2/images/episode_35843/0064.jpg", "droid_molmo_sam2/images/episode_35843/0103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the yellow block in the silver bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the yellow block in the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.506, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.633, 0.370]). The trajectory involves 104 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35843", "trajectory_length": 104, "key_frame_indices": [ 0, 64, 103 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35843.json" } }, { "id": "droid_molmo_sam2_episode_1778", "task": "Put the green marker inside the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1778/0000.jpg", "droid_molmo_sam2/images/episode_1778/0135.jpg", "droid_molmo_sam2/images/episode_1778/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green marker inside the white mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green marker inside the white mug, execute the following phases: 1) Initial approach phase (start at [0.527, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.429]). The trajectory involves 271 precise waypoints with total movement distance of 1.003." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1778", "trajectory_length": 271, "key_frame_indices": [ 0, 135, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1778.json" } }, { "id": "droid_molmo_sam2_episode_30551", "task": "Pick up the can and put it in the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30551/0000.jpg", "droid_molmo_sam2/images/episode_30551/0225.jpg", "droid_molmo_sam2/images/episode_30551/0237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the can and put it in the cabinet?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the can and put it in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.492, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.046]). The trajectory involves 238 precise waypoints with total movement distance of 1.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30551", "trajectory_length": 238, "key_frame_indices": [ 0, 225, 237 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30551.json" } }, { "id": "droid_molmo_sam2_episode_6105", "task": "Fold the white pair of shorts", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6105/0000.jpg", "droid_molmo_sam2/images/episode_6105/0200.jpg", "droid_molmo_sam2/images/episode_6105/0399.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white pair of shorts?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white pair of shorts, execute the following phases: 1) Initial approach phase (start at [0.440, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.518]). The trajectory involves 400 precise waypoints with total movement distance of 1.385." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6105", "trajectory_length": 400, "key_frame_indices": [ 0, 200, 399 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6105.json" } }, { "id": "droid_molmo_sam2_episode_35960", "task": "Fold the white cloth in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35960/0000.jpg", "droid_molmo_sam2/images/episode_35960/0159.jpg", "droid_molmo_sam2/images/episode_35960/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the white cloth in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the white cloth in half, execute the following phases: 1) Initial approach phase (start at [0.455, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.903]). The trajectory involves 198 precise waypoints with total movement distance of 1.077." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35960", "trajectory_length": 198, "key_frame_indices": [ 0, 159, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35960.json" } }, { "id": "droid_molmo_sam2_episode_3398", "task": "Put the black masking tape on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3398/0000.jpg", "droid_molmo_sam2/images/episode_3398/0085.jpg", "droid_molmo_sam2/images/episode_3398/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black masking tape on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black masking tape on the white plate, execute the following phases: 1) Initial approach phase (start at [0.447, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.561]). The trajectory involves 111 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3398", "trajectory_length": 111, "key_frame_indices": [ 0, 85, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3398.json" } }, { "id": "droid_molmo_sam2_episode_3150", "task": "Move the pot on the stove to the adjacent plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3150/0000.jpg", "droid_molmo_sam2/images/episode_3150/0109.jpg", "droid_molmo_sam2/images/episode_3150/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pot on the stove to the adjacent plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pot on the stove to the adjacent plate, execute the following phases: 1) Initial approach phase (start at [0.594, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.885]). The trajectory involves 162 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3150", "trajectory_length": 162, "key_frame_indices": [ 0, 109, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3150.json" } }, { "id": "droid_molmo_sam2_episode_37128", "task": "Place the white spoon inside the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37128/0000.jpg", "droid_molmo_sam2/images/episode_37128/0187.jpg", "droid_molmo_sam2/images/episode_37128/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white spoon inside the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white spoon inside the mug, execute the following phases: 1) Initial approach phase (start at [0.808, 0.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.611, 0.530]). The trajectory involves 214 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37128", "trajectory_length": 214, "key_frame_indices": [ 0, 187, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37128.json" } }, { "id": "droid_molmo_sam2_episode_37503", "task": "Push the faucet to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37503/0000.jpg", "droid_molmo_sam2/images/episode_37503/0108.jpg", "droid_molmo_sam2/images/episode_37503/0166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the faucet to the right.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the faucet to the right., execute the following phases: 1) Initial approach phase (start at [0.330, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.464]). The trajectory involves 167 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37503", "trajectory_length": 167, "key_frame_indices": [ 0, 108, 166 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37503.json" } }, { "id": "droid_molmo_sam2_episode_33964", "task": "Move the bottle on the right backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33964/0000.jpg", "droid_molmo_sam2/images/episode_33964/0119.jpg", "droid_molmo_sam2/images/episode_33964/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle on the right backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle on the right backwards, execute the following phases: 1) Initial approach phase (start at [0.459, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.652, 0.692]). The trajectory involves 159 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33964", "trajectory_length": 159, "key_frame_indices": [ 0, 119, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33964.json" } }, { "id": "droid_molmo_sam2_episode_6688", "task": "Put the purple toy into the dish.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6688/0000.jpg", "droid_molmo_sam2/images/episode_6688/0104.jpg", "droid_molmo_sam2/images/episode_6688/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the purple toy into the dish.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the purple toy into the dish., execute the following phases: 1) Initial approach phase (start at [0.557, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.455]). The trajectory involves 175 precise waypoints with total movement distance of 1.416." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6688", "trajectory_length": 175, "key_frame_indices": [ 0, 104, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6688.json" } }, { "id": "droid_molmo_sam2_episode_38691", "task": "Fold the green cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38691/0000.jpg", "droid_molmo_sam2/images/episode_38691/0110.jpg", "droid_molmo_sam2/images/episode_38691/0216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the green cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the green cloth, execute the following phases: 1) Initial approach phase (start at [0.573, 0.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.692]). The trajectory involves 217 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38691", "trajectory_length": 217, "key_frame_indices": [ 0, 110, 216 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38691.json" } }, { "id": "droid_molmo_sam2_episode_31292", "task": "Open the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31292/0000.jpg", "droid_molmo_sam2/images/episode_31292/0314.jpg", "droid_molmo_sam2/images/episode_31292/0324.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 [0.545, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.869]). The trajectory involves 325 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31292", "trajectory_length": 325, "key_frame_indices": [ 0, 314, 324 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31292.json" } }, { "id": "droid_molmo_sam2_episode_7488", "task": "Move the pineapple plushie closer to the black plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7488/0000.jpg", "droid_molmo_sam2/images/episode_7488/0163.jpg", "droid_molmo_sam2/images/episode_7488/0170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pineapple plushie closer to the black plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pineapple plushie closer to the black plate, execute the following phases: 1) Initial approach phase (start at [0.571, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.627]). The trajectory involves 171 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7488", "trajectory_length": 171, "key_frame_indices": [ 0, 163, 170 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7488.json" } }, { "id": "droid_molmo_sam2_episode_35776", "task": "Put the black lid on the black bottle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35776/0000.jpg", "droid_molmo_sam2/images/episode_35776/0078.jpg", "droid_molmo_sam2/images/episode_35776/0143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black lid on the black bottle?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black lid on the black bottle, execute the following phases: 1) Initial approach phase (start at [0.522, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.295]). The trajectory involves 144 precise waypoints with total movement distance of 0.529." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35776", "trajectory_length": 144, "key_frame_indices": [ 0, 78, 143 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35776.json" } }, { "id": "droid_molmo_sam2_episode_32018", "task": "Put the carrot plush toy on the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32018/0000.jpg", "droid_molmo_sam2/images/episode_32018/0113.jpg", "droid_molmo_sam2/images/episode_32018/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot plush toy on the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot plush toy on the pan, execute the following phases: 1) Initial approach phase (start at [0.561, 0.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.512]). The trajectory involves 135 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32018", "trajectory_length": 135, "key_frame_indices": [ 0, 113, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32018.json" } }, { "id": "droid_molmo_sam2_episode_3047", "task": "Open the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3047/0000.jpg", "droid_molmo_sam2/images/episode_3047/0155.jpg", "droid_molmo_sam2/images/episode_3047/0334.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 [0.741, 0.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.742, 0.398]). The trajectory involves 335 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3047", "trajectory_length": 335, "key_frame_indices": [ 0, 155, 334 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3047.json" } }, { "id": "droid_molmo_sam2_episode_35562", "task": "Move the pen downwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35562/0000.jpg", "droid_molmo_sam2/images/episode_35562/0104.jpg", "droid_molmo_sam2/images/episode_35562/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pen downwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pen downwards, execute the following phases: 1) Initial approach phase (start at [0.624, 0.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.507]). The trajectory involves 135 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35562", "trajectory_length": 135, "key_frame_indices": [ 0, 104, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35562.json" } }, { "id": "droid_molmo_sam2_episode_38335", "task": "Put the orange pepper in the silver bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38335/0000.jpg", "droid_molmo_sam2/images/episode_38335/0069.jpg", "droid_molmo_sam2/images/episode_38335/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange pepper in the silver bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange pepper in the silver bowl, execute the following phases: 1) Initial approach phase (start at [0.538, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.381]). The trajectory involves 121 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38335", "trajectory_length": 121, "key_frame_indices": [ 0, 69, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38335.json" } }, { "id": "droid_molmo_sam2_episode_4461", "task": "Press the button on the kettle handle", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4461/0000.jpg", "droid_molmo_sam2/images/episode_4461/0026.jpg", "droid_molmo_sam2/images/episode_4461/0192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the button on the kettle handle?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the button on the kettle handle, execute the following phases: 1) Initial approach phase (start at [0.533, 0.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.643]). The trajectory involves 193 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4461", "trajectory_length": 193, "key_frame_indices": [ 0, 26, 192 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4461.json" } }, { "id": "droid_molmo_sam2_episode_4602", "task": "Move the bottle left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4602/0000.jpg", "droid_molmo_sam2/images/episode_4602/0156.jpg", "droid_molmo_sam2/images/episode_4602/0233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle left, execute the following phases: 1) Initial approach phase (start at [0.754, 0.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 0.526]). The trajectory involves 234 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4602", "trajectory_length": 234, "key_frame_indices": [ 0, 156, 233 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4602.json" } }, { "id": "droid_molmo_sam2_episode_1409", "task": "Move the shirts and towels from the storage box and put them on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1409/0000.jpg", "droid_molmo_sam2/images/episode_1409/0201.jpg", "droid_molmo_sam2/images/episode_1409/0381.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the shirts and towels from the storage box and put them on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the shirts and towels from the storage box and put them on the table, execute the following phases: 1) Initial approach phase (start at [0.544, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.892]). The trajectory involves 382 precise waypoints with total movement distance of 2.708." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1409", "trajectory_length": 382, "key_frame_indices": [ 0, 201, 381 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1409.json" } }, { "id": "droid_molmo_sam2_episode_33919", "task": "Move the mug cup to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33919/0000.jpg", "droid_molmo_sam2/images/episode_33919/0079.jpg", "droid_molmo_sam2/images/episode_33919/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup to the left, execute the following phases: 1) Initial approach phase (start at [0.495, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.537]). The trajectory involves 133 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33919", "trajectory_length": 133, "key_frame_indices": [ 0, 79, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33919.json" } }, { "id": "droid_molmo_sam2_episode_32294", "task": "Remove the pink plate from the blue bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32294/0000.jpg", "droid_molmo_sam2/images/episode_32294/0151.jpg", "droid_molmo_sam2/images/episode_32294/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the pink plate from the blue bowl.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the pink plate from the blue bowl., execute the following phases: 1) Initial approach phase (start at [0.740, 0.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.571]). The trajectory involves 175 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32294", "trajectory_length": 175, "key_frame_indices": [ 0, 151, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32294.json" } }, { "id": "droid_molmo_sam2_episode_6276", "task": "Turn the tap nozzle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6276/0000.jpg", "droid_molmo_sam2/images/episode_6276/0059.jpg", "droid_molmo_sam2/images/episode_6276/0087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap nozzle to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap nozzle to the left, execute the following phases: 1) Initial approach phase (start at [0.719, 0.428]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.687, 0.429]). The trajectory involves 88 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6276", "trajectory_length": 88, "key_frame_indices": [ 0, 59, 87 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6276.json" } }, { "id": "droid_molmo_sam2_episode_3685", "task": "Use the orange towel to wipe the tabletop.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3685/0000.jpg", "droid_molmo_sam2/images/episode_3685/0222.jpg", "droid_molmo_sam2/images/episode_3685/0338.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the orange towel to wipe the tabletop.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the orange towel to wipe the tabletop., execute the following phases: 1) Initial approach phase (start at [0.667, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.768]). The trajectory involves 339 precise waypoints with total movement distance of 0.805." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3685", "trajectory_length": 339, "key_frame_indices": [ 0, 222, 338 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3685.json" } }, { "id": "droid_molmo_sam2_episode_4591", "task": "remove the object from the tray and place it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4591/0000.jpg", "droid_molmo_sam2/images/episode_4591/0141.jpg", "droid_molmo_sam2/images/episode_4591/0144.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 [0.390, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.558]). The trajectory involves 145 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4591", "trajectory_length": 145, "key_frame_indices": [ 0, 141, 144 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4591.json" } }, { "id": "droid_molmo_sam2_episode_6965", "task": "Press the stapler", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6965/0000.jpg", "droid_molmo_sam2/images/episode_6965/0099.jpg", "droid_molmo_sam2/images/episode_6965/0106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the stapler?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the stapler, execute the following phases: 1) Initial approach phase (start at [0.651, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.643, 0.631]). The trajectory involves 107 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6965", "trajectory_length": 107, "key_frame_indices": [ 0, 99, 106 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6965.json" } }, { "id": "droid_molmo_sam2_episode_2285", "task": "Pour the contents in the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2285/0000.jpg", "droid_molmo_sam2/images/episode_2285/0107.jpg", "droid_molmo_sam2/images/episode_2285/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.565, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 135 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2285", "trajectory_length": 135, "key_frame_indices": [ 0, 107, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2285.json" } }, { "id": "droid_molmo_sam2_episode_4660", "task": "Pick up the cup and move it to the left side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4660/0000.jpg", "droid_molmo_sam2/images/episode_4660/0122.jpg", "droid_molmo_sam2/images/episode_4660/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup and move it to the left side of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the cup and move it to the left side of the table, execute the following phases: 1) Initial approach phase (start at [0.560, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.551]). The trajectory involves 170 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4660", "trajectory_length": 170, "key_frame_indices": [ 0, 122, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4660.json" } }, { "id": "droid_molmo_sam2_episode_1553", "task": "Put the remote on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1553/0000.jpg", "droid_molmo_sam2/images/episode_1553/0245.jpg", "droid_molmo_sam2/images/episode_1553/0281.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the remote on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the remote on the stand, execute the following phases: 1) Initial approach phase (start at [0.536, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.324]). The trajectory involves 282 precise waypoints with total movement distance of 1.839." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1553", "trajectory_length": 282, "key_frame_indices": [ 0, 245, 281 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1553.json" } }, { "id": "droid_molmo_sam2_episode_6753", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6753/0000.jpg", "droid_molmo_sam2/images/episode_6753/0077.jpg", "droid_molmo_sam2/images/episode_6753/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.579, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.521]). The trajectory involves 112 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6753", "trajectory_length": 112, "key_frame_indices": [ 0, 77, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6753.json" } }, { "id": "droid_molmo_sam2_episode_173", "task": "Wipe the table with the yellow towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_173/0000.jpg", "droid_molmo_sam2/images/episode_173/0093.jpg", "droid_molmo_sam2/images/episode_173/0153.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_molmo_sam2 manipulation: Wipe the table with the yellow towel, execute the following phases: 1) Initial approach phase (start at [0.502, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.466]). The trajectory involves 154 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_173", "trajectory_length": 154, "key_frame_indices": [ 0, 93, 153 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_173.json" } }, { "id": "droid_molmo_sam2_episode_30443", "task": "Pick up the strawberry plush toy from the bowl and put it in the blue container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30443/0000.jpg", "droid_molmo_sam2/images/episode_30443/0002.jpg", "droid_molmo_sam2/images/episode_30443/0276.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the strawberry plush toy from the bowl and put it in the blue container?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the strawberry plush toy from the bowl and put it in the blue container, execute the following phases: 1) Initial approach phase (start at [0.637, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.812]). The trajectory involves 277 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30443", "trajectory_length": 277, "key_frame_indices": [ 0, 2, 276 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30443.json" } }, { "id": "droid_molmo_sam2_episode_3199", "task": "Pull out the handle of the tap", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3199/0000.jpg", "droid_molmo_sam2/images/episode_3199/0076.jpg", "droid_molmo_sam2/images/episode_3199/0107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out the handle of the tap?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out the handle of the tap, execute the following phases: 1) Initial approach phase (start at [0.492, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.451]). The trajectory involves 108 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3199", "trajectory_length": 108, "key_frame_indices": [ 0, 76, 107 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3199.json" } }, { "id": "droid_molmo_sam2_episode_32183", "task": "Place the three markers on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32183/0000.jpg", "droid_molmo_sam2/images/episode_32183/0152.jpg", "droid_molmo_sam2/images/episode_32183/0257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the three markers on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the three markers on the white plate, execute the following phases: 1) Initial approach phase (start at [0.570, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.887]). The trajectory involves 258 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32183", "trajectory_length": 258, "key_frame_indices": [ 0, 152, 257 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32183.json" } }, { "id": "droid_molmo_sam2_episode_34746", "task": "Use a paper towel to wipe the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34746/0000.jpg", "droid_molmo_sam2/images/episode_34746/0225.jpg", "droid_molmo_sam2/images/episode_34746/0347.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use a paper towel to wipe the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use a paper towel to wipe the table, execute the following phases: 1) Initial approach phase (start at [0.374, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.866]). The trajectory involves 348 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34746", "trajectory_length": 348, "key_frame_indices": [ 0, 225, 347 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34746.json" } }, { "id": "droid_molmo_sam2_episode_2495", "task": "Put the red marker in the yellow mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2495/0000.jpg", "droid_molmo_sam2/images/episode_2495/0172.jpg", "droid_molmo_sam2/images/episode_2495/0189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the red marker in the yellow mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the red marker in the yellow mug, execute the following phases: 1) Initial approach phase (start at [0.523, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.434]). The trajectory involves 190 precise waypoints with total movement distance of 0.760." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2495", "trajectory_length": 190, "key_frame_indices": [ 0, 172, 189 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2495.json" } }, { "id": "droid_molmo_sam2_episode_1268", "task": "Pick up the orange and yellow objects from the table and put them in the two cups on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1268/0000.jpg", "droid_molmo_sam2/images/episode_1268/0029.jpg", "droid_molmo_sam2/images/episode_1268/0779.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange and yellow objects from the table and put them in the two cups on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange and yellow objects from the table and put them in the two cups on the table, execute the following phases: 1) Initial approach phase (start at [0.396, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.736]). The trajectory involves 780 precise waypoints with total movement distance of 1.011." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1268", "trajectory_length": 780, "key_frame_indices": [ 0, 29, 779 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1268.json" } }, { "id": "droid_molmo_sam2_episode_6066", "task": "Hang the cloth on the stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6066/0000.jpg", "droid_molmo_sam2/images/episode_6066/0149.jpg", "droid_molmo_sam2/images/episode_6066/0314.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the stand, execute the following phases: 1) Initial approach phase (start at [0.463, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.323]). The trajectory involves 315 precise waypoints with total movement distance of 1.884." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6066", "trajectory_length": 315, "key_frame_indices": [ 0, 149, 314 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6066.json" } }, { "id": "droid_molmo_sam2_episode_7179", "task": "Open the topmost drawer on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7179/0000.jpg", "droid_molmo_sam2/images/episode_7179/0277.jpg", "droid_molmo_sam2/images/episode_7179/0312.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer on the right?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer on the right, execute the following phases: 1) Initial approach phase (start at [0.669, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.629, 0.769]). The trajectory involves 313 precise waypoints with total movement distance of 3.047." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7179", "trajectory_length": 313, "key_frame_indices": [ 0, 277, 312 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7179.json" } }, { "id": "droid_molmo_sam2_episode_4618", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4618/0000.jpg", "droid_molmo_sam2/images/episode_4618/0173.jpg", "droid_molmo_sam2/images/episode_4618/0208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.551, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.389]). The trajectory involves 209 precise waypoints with total movement distance of 1.174." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4618", "trajectory_length": 209, "key_frame_indices": [ 0, 173, 208 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4618.json" } }, { "id": "droid_molmo_sam2_episode_30399", "task": "Pick up the colourless bottle and move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30399/0000.jpg", "droid_molmo_sam2/images/episode_30399/0261.jpg", "droid_molmo_sam2/images/episode_30399/0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the colourless bottle and move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the colourless bottle and move it to the right., execute the following phases: 1) Initial approach phase (start at [0.327, 0.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.137]). The trajectory involves 268 precise waypoints with total movement distance of 1.008." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30399", "trajectory_length": 268, "key_frame_indices": [ 0, 261, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30399.json" } }, { "id": "droid_molmo_sam2_episode_6687", "task": "Place the flask in the backpack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6687/0000.jpg", "droid_molmo_sam2/images/episode_6687/0279.jpg", "droid_molmo_sam2/images/episode_6687/0306.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the flask in the backpack?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the flask in the backpack, execute the following phases: 1) Initial approach phase (start at [0.490, 0.891]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 307 precise waypoints with total movement distance of 1.267." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6687", "trajectory_length": 307, "key_frame_indices": [ 0, 279, 306 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6687.json" } }, { "id": "droid_molmo_sam2_episode_4096", "task": "Take the orange object from the drawer and place it on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4096/0000.jpg", "droid_molmo_sam2/images/episode_4096/0093.jpg", "droid_molmo_sam2/images/episode_4096/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange object from the drawer and place it on the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the orange object from the drawer and place it on the countertop, execute the following phases: 1) Initial approach phase (start at [0.750, 0.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.837, 0.269]). The trajectory involves 147 precise waypoints with total movement distance of 0.753." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4096", "trajectory_length": 147, "key_frame_indices": [ 0, 93, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4096.json" } }, { "id": "droid_molmo_sam2_episode_3037", "task": "Pick up the yellow plush toy and put it in the basket", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3037/0000.jpg", "droid_molmo_sam2/images/episode_3037/0069.jpg", "droid_molmo_sam2/images/episode_3037/0119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the yellow plush toy and put it in the basket?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the yellow plush toy and put it in the basket, execute the following phases: 1) Initial approach phase (start at [0.643, 0.913]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 120 precise waypoints with total movement distance of 1.751." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3037", "trajectory_length": 120, "key_frame_indices": [ 0, 69, 119 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3037.json" } }, { "id": "droid_molmo_sam2_episode_575", "task": "Put the box in the cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_575/0000.jpg", "droid_molmo_sam2/images/episode_575/0121.jpg", "droid_molmo_sam2/images/episode_575/0187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the box in the cabinet?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the box in the cabinet, execute the following phases: 1) Initial approach phase (start at [0.615, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.114]). The trajectory involves 188 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_575", "trajectory_length": 188, "key_frame_indices": [ 0, 121, 187 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_575.json" } }, { "id": "droid_molmo_sam2_episode_39101", "task": "Take the lid from the stove and put it on the left pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39101/0000.jpg", "droid_molmo_sam2/images/episode_39101/0276.jpg", "droid_molmo_sam2/images/episode_39101/0341.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the lid from the stove and put it on the left pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the lid from the stove and put it on the left pot, execute the following phases: 1) Initial approach phase (start at [0.684, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.852, 0.477]). The trajectory involves 342 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39101", "trajectory_length": 342, "key_frame_indices": [ 0, 276, 341 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39101.json" } }, { "id": "droid_molmo_sam2_episode_33629", "task": "Slide the lid on the shape sorting box open", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33629/0000.jpg", "droid_molmo_sam2/images/episode_33629/0110.jpg", "droid_molmo_sam2/images/episode_33629/0204.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 [0.451, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.549]). The trajectory involves 205 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33629", "trajectory_length": 205, "key_frame_indices": [ 0, 110, 204 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33629.json" } }, { "id": "droid_molmo_sam2_episode_1311", "task": "Remove the black pen from the white bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1311/0000.jpg", "droid_molmo_sam2/images/episode_1311/0113.jpg", "droid_molmo_sam2/images/episode_1311/0173.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the black pen from the white bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.596, 0.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.547]). The trajectory involves 174 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1311", "trajectory_length": 174, "key_frame_indices": [ 0, 113, 173 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1311.json" } }, { "id": "droid_molmo_sam2_episode_3204", "task": "Put a rubber band around the base of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3204/0000.jpg", "droid_molmo_sam2/images/episode_3204/0068.jpg", "droid_molmo_sam2/images/episode_3204/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put a rubber band around the base of the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put a rubber band around the base of the cup, execute the following phases: 1) Initial approach phase (start at [0.558, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.558, 0.566]). The trajectory involves 129 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3204", "trajectory_length": 129, "key_frame_indices": [ 0, 68, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3204.json" } }, { "id": "droid_molmo_sam2_episode_37098", "task": "Move the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37098/0000.jpg", "droid_molmo_sam2/images/episode_37098/0168.jpg", "droid_molmo_sam2/images/episode_37098/0183.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 [0.564, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.708]). The trajectory involves 184 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37098", "trajectory_length": 184, "key_frame_indices": [ 0, 168, 183 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37098.json" } }, { "id": "droid_molmo_sam2_episode_39131", "task": "Place the blue mug on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39131/0000.jpg", "droid_molmo_sam2/images/episode_39131/0265.jpg", "droid_molmo_sam2/images/episode_39131/0306.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the blue mug on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the blue mug on the white plate, execute the following phases: 1) Initial approach phase (start at [0.671, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 0.802]). The trajectory involves 307 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39131", "trajectory_length": 307, "key_frame_indices": [ 0, 265, 306 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39131.json" } }, { "id": "droid_molmo_sam2_episode_3235", "task": "Remove the lid of the small pot that's near the orange cup on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3235/0000.jpg", "droid_molmo_sam2/images/episode_3235/0082.jpg", "droid_molmo_sam2/images/episode_3235/0156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the lid of the small pot that's near the orange cup on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the lid of the small pot that's near the orange cup on the table, execute the following phases: 1) Initial approach phase (start at [0.449, 0.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.717]). The trajectory involves 157 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3235", "trajectory_length": 157, "key_frame_indices": [ 0, 82, 156 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3235.json" } }, { "id": "droid_molmo_sam2_episode_2840", "task": "Move the pink toy backward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2840/0000.jpg", "droid_molmo_sam2/images/episode_2840/0106.jpg", "droid_molmo_sam2/images/episode_2840/0116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pink toy backward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pink toy backward, execute the following phases: 1) Initial approach phase (start at [0.684, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.657]). The trajectory involves 117 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2840", "trajectory_length": 117, "key_frame_indices": [ 0, 106, 116 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2840.json" } }, { "id": "droid_molmo_sam2_episode_36508", "task": "Take the red marker out of the mug and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36508/0000.jpg", "droid_molmo_sam2/images/episode_36508/0130.jpg", "droid_molmo_sam2/images/episode_36508/0197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red marker out of the mug and put it on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the red marker out of the mug and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.506, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 0.640]). The trajectory involves 198 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36508", "trajectory_length": 198, "key_frame_indices": [ 0, 130, 197 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36508.json" } }, { "id": "droid_molmo_sam2_episode_32209", "task": "Slide the curtain to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32209/0000.jpg", "droid_molmo_sam2/images/episode_32209/0116.jpg", "droid_molmo_sam2/images/episode_32209/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the curtain to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the curtain to the left, execute the following phases: 1) Initial approach phase (start at [0.581, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.771, 0.482]). The trajectory involves 178 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32209", "trajectory_length": 178, "key_frame_indices": [ 0, 116, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32209.json" } }, { "id": "droid_molmo_sam2_episode_36309", "task": "Unfold the cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36309/0000.jpg", "droid_molmo_sam2/images/episode_36309/0122.jpg", "droid_molmo_sam2/images/episode_36309/0234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.569, 0.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.730, 0.374]). The trajectory involves 235 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36309", "trajectory_length": 235, "key_frame_indices": [ 0, 122, 234 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36309.json" } }, { "id": "droid_molmo_sam2_episode_39036", "task": "Hang the black shirt on the black stand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39036/0000.jpg", "droid_molmo_sam2/images/episode_39036/0134.jpg", "droid_molmo_sam2/images/episode_39036/0162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the black shirt on the black stand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the black shirt on the black stand, execute the following phases: 1) Initial approach phase (start at [0.480, 0.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 0.352]). The trajectory involves 163 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39036", "trajectory_length": 163, "key_frame_indices": [ 0, 134, 162 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39036.json" } }, { "id": "droid_molmo_sam2_episode_30168", "task": "Move the pillow to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30168/0000.jpg", "droid_molmo_sam2/images/episode_30168/0203.jpg", "droid_molmo_sam2/images/episode_30168/0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pillow to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pillow to the left, execute the following phases: 1) Initial approach phase (start at [0.810, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.836]). The trajectory involves 243 precise waypoints with total movement distance of 0.925." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30168", "trajectory_length": 243, "key_frame_indices": [ 0, 203, 242 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30168.json" } }, { "id": "droid_molmo_sam2_episode_6683", "task": "Pick up the rectangular object and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6683/0000.jpg", "droid_molmo_sam2/images/episode_6683/0096.jpg", "droid_molmo_sam2/images/episode_6683/0141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rectangular object and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the rectangular object and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.422, 0.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.418]). The trajectory involves 142 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6683", "trajectory_length": 142, "key_frame_indices": [ 0, 96, 141 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6683.json" } }, { "id": "droid_molmo_sam2_episode_30414", "task": "Pick up the pen from the grey bowl and put it on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30414/0000.jpg", "droid_molmo_sam2/images/episode_30414/0140.jpg", "droid_molmo_sam2/images/episode_30414/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen from the grey bowl and put it on the table.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen from the grey bowl and put it on the table., execute the following phases: 1) Initial approach phase (start at [0.521, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.621]). The trajectory involves 210 precise waypoints with total movement distance of 0.911." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30414", "trajectory_length": 210, "key_frame_indices": [ 0, 140, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30414.json" } }, { "id": "droid_molmo_sam2_episode_31916", "task": "Remove the green packet from the sink on the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31916/0000.jpg", "droid_molmo_sam2/images/episode_31916/0142.jpg", "droid_molmo_sam2/images/episode_31916/0230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green packet from the sink on the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green packet from the sink on the left., execute the following phases: 1) Initial approach phase (start at [0.546, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.793]). The trajectory involves 231 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31916", "trajectory_length": 231, "key_frame_indices": [ 0, 142, 230 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31916.json" } }, { "id": "droid_molmo_sam2_episode_1732", "task": "Use the towel to wipe the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1732/0000.jpg", "droid_molmo_sam2/images/episode_1732/0206.jpg", "droid_molmo_sam2/images/episode_1732/0361.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the towel to wipe the countertop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the towel to wipe the countertop, execute the following phases: 1) Initial approach phase (start at [0.548, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.584, 0.681]). The trajectory involves 362 precise waypoints with total movement distance of 2.986." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1732", "trajectory_length": 362, "key_frame_indices": [ 0, 206, 361 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1732.json" } }, { "id": "droid_molmo_sam2_episode_4454", "task": "Remove the marker from the silver cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4454/0000.jpg", "droid_molmo_sam2/images/episode_4454/0162.jpg", "droid_molmo_sam2/images/episode_4454/0218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker from the silver cup?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker from the silver cup, execute the following phases: 1) Initial approach phase (start at [0.509, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.497]). The trajectory involves 219 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4454", "trajectory_length": 219, "key_frame_indices": [ 0, 162, 218 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4454.json" } }, { "id": "droid_molmo_sam2_episode_34382", "task": "Pour the content from the silver bowl into the orange bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34382/0000.jpg", "droid_molmo_sam2/images/episode_34382/0078.jpg", "droid_molmo_sam2/images/episode_34382/0365.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the content from the silver bowl into the orange bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the content from the silver bowl into the orange bowl, execute the following phases: 1) Initial approach phase (start at [0.625, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.519]). The trajectory involves 366 precise waypoints with total movement distance of 1.087." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34382", "trajectory_length": 366, "key_frame_indices": [ 0, 78, 365 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34382.json" } }, { "id": "droid_molmo_sam2_episode_6526", "task": "Turn the left switch off", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6526/0000.jpg", "droid_molmo_sam2/images/episode_6526/0075.jpg", "droid_molmo_sam2/images/episode_6526/0127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the left switch off?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the left switch off, execute the following phases: 1) Initial approach phase (start at [0.526, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.360]). The trajectory involves 128 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6526", "trajectory_length": 128, "key_frame_indices": [ 0, 75, 127 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6526.json" } }, { "id": "droid_molmo_sam2_episode_36510", "task": "Move the towel from left to right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36510/0000.jpg", "droid_molmo_sam2/images/episode_36510/0062.jpg", "droid_molmo_sam2/images/episode_36510/0077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel from left to right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel from left to right., execute the following phases: 1) Initial approach phase (start at [0.471, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.717, 0.650]). The trajectory involves 78 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36510", "trajectory_length": 78, "key_frame_indices": [ 0, 62, 77 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36510.json" } }, { "id": "droid_molmo_sam2_episode_42", "task": "Put the yellow cup and the knife in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_42/0000.jpg", "droid_molmo_sam2/images/episode_42/0237.jpg", "droid_molmo_sam2/images/episode_42/0285.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow cup and the knife in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow cup and the knife in the bowl, execute the following phases: 1) Initial approach phase (start at [0.632, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.459]). The trajectory involves 286 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_42", "trajectory_length": 286, "key_frame_indices": [ 0, 237, 285 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_42.json" } }, { "id": "droid_molmo_sam2_episode_4133", "task": "Put the towel on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4133/0000.jpg", "droid_molmo_sam2/images/episode_4133/0117.jpg", "droid_molmo_sam2/images/episode_4133/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the table, execute the following phases: 1) Initial approach phase (start at [0.754, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.832]). The trajectory involves 160 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4133", "trajectory_length": 160, "key_frame_indices": [ 0, 117, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4133.json" } }, { "id": "droid_molmo_sam2_episode_36031", "task": "Make the bottle stand upright.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36031/0000.jpg", "droid_molmo_sam2/images/episode_36031/0089.jpg", "droid_molmo_sam2/images/episode_36031/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Make the bottle stand upright.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Make the bottle stand upright., execute the following phases: 1) Initial approach phase (start at [0.637, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.445]). The trajectory involves 160 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36031", "trajectory_length": 160, "key_frame_indices": [ 0, 89, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36031.json" } }, { "id": "droid_molmo_sam2_episode_7161", "task": "Use the big spoon to stir the contents of the big pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7161/0000.jpg", "droid_molmo_sam2/images/episode_7161/0076.jpg", "droid_molmo_sam2/images/episode_7161/0329.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the big spoon to stir the contents of the big pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the big spoon to stir the contents of the big pot, execute the following phases: 1) Initial approach phase (start at [0.657, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.587]). The trajectory involves 330 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7161", "trajectory_length": 330, "key_frame_indices": [ 0, 76, 329 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7161.json" } }, { "id": "droid_molmo_sam2_episode_31535", "task": "Pour some detergent in the washing machine", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31535/0000.jpg", "droid_molmo_sam2/images/episode_31535/0121.jpg", "droid_molmo_sam2/images/episode_31535/0357.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour some detergent in the washing machine?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour some detergent in the washing machine, execute the following phases: 1) Initial approach phase (start at [0.664, 0.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.182]). The trajectory involves 358 precise waypoints with total movement distance of 2.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31535", "trajectory_length": 358, "key_frame_indices": [ 0, 121, 357 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31535.json" } }, { "id": "droid_molmo_sam2_episode_3027", "task": "Remove the green tape from the open drawer and place it on the countertop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3027/0000.jpg", "droid_molmo_sam2/images/episode_3027/0111.jpg", "droid_molmo_sam2/images/episode_3027/0174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green tape from the open drawer and place it on the countertop?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green tape from the open drawer and place it on the countertop, execute the following phases: 1) Initial approach phase (start at [0.498, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.498]). The trajectory involves 175 precise waypoints with total movement distance of 0.647." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3027", "trajectory_length": 175, "key_frame_indices": [ 0, 111, 174 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3027.json" } }, { "id": "droid_molmo_sam2_episode_6260", "task": "Put the can inside the top drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6260/0000.jpg", "droid_molmo_sam2/images/episode_6260/0178.jpg", "droid_molmo_sam2/images/episode_6260/0240.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_molmo_sam2 manipulation: Put the can inside the top drawer, execute the following phases: 1) Initial approach phase (start at [0.389, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.426, 0.101]). The trajectory involves 241 precise waypoints with total movement distance of 0.998." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6260", "trajectory_length": 241, "key_frame_indices": [ 0, 178, 240 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6260.json" } }, { "id": "droid_molmo_sam2_episode_2447", "task": "Move the cup slightly to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2447/0000.jpg", "droid_molmo_sam2/images/episode_2447/0115.jpg", "droid_molmo_sam2/images/episode_2447/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly to the right, execute the following phases: 1) Initial approach phase (start at [0.543, 0.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.450]). The trajectory involves 143 precise waypoints with total movement distance of 0.407." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2447", "trajectory_length": 143, "key_frame_indices": [ 0, 115, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2447.json" } }, { "id": "droid_molmo_sam2_episode_32769", "task": "Pick up the blue towel from the countertop and hang it on the bottom cabinet.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32769/0000.jpg", "droid_molmo_sam2/images/episode_32769/0170.jpg", "droid_molmo_sam2/images/episode_32769/0409.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue towel from the countertop and hang it on the bottom cabinet.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the blue towel from the countertop and hang it on the bottom cabinet., execute the following phases: 1) Initial approach phase (start at [0.655, 0.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.707, 0.672]). The trajectory involves 410 precise waypoints with total movement distance of 0.970." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32769", "trajectory_length": 410, "key_frame_indices": [ 0, 170, 409 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32769.json" } }, { "id": "droid_molmo_sam2_episode_3618", "task": "Pick the orange block and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3618/0000.jpg", "droid_molmo_sam2/images/episode_3618/0039.jpg", "droid_molmo_sam2/images/episode_3618/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the orange block and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the orange block and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.337, 0.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.322]). The trajectory involves 110 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3618", "trajectory_length": 110, "key_frame_indices": [ 0, 39, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3618.json" } }, { "id": "droid_molmo_sam2_episode_37348", "task": "Drop the towel from the black stand to the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37348/0000.jpg", "droid_molmo_sam2/images/episode_37348/0084.jpg", "droid_molmo_sam2/images/episode_37348/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Drop the towel from the black stand to the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Drop the towel from the black stand to the table, execute the following phases: 1) Initial approach phase (start at [0.598, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.474, 0.315]). The trajectory involves 152 precise waypoints with total movement distance of 0.891." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37348", "trajectory_length": 152, "key_frame_indices": [ 0, 84, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37348.json" } }, { "id": "droid_molmo_sam2_episode_6590", "task": "Put the yellow block inside the blue cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6590/0000.jpg", "droid_molmo_sam2/images/episode_6590/0021.jpg", "droid_molmo_sam2/images/episode_6590/0091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block inside the blue cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block inside the blue cup, execute the following phases: 1) Initial approach phase (start at [0.542, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.517]). The trajectory involves 92 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6590", "trajectory_length": 92, "key_frame_indices": [ 0, 21, 91 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6590.json" } }, { "id": "droid_molmo_sam2_episode_33220", "task": "Unfold the object and spread it to the part of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33220/0000.jpg", "droid_molmo_sam2/images/episode_33220/0156.jpg", "droid_molmo_sam2/images/episode_33220/0411.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the object and spread it to the part of the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the object and spread it to the part of the table, execute the following phases: 1) Initial approach phase (start at [0.909, 0.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.876, 0.325]). The trajectory involves 412 precise waypoints with total movement distance of 0.673." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33220", "trajectory_length": 412, "key_frame_indices": [ 0, 156, 411 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33220.json" } }, { "id": "droid_molmo_sam2_episode_3590", "task": "Move the pan to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3590/0000.jpg", "droid_molmo_sam2/images/episode_3590/0230.jpg", "droid_molmo_sam2/images/episode_3590/0356.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pan to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pan to the right., execute the following phases: 1) Initial approach phase (start at [0.364, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.650]). The trajectory involves 357 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3590", "trajectory_length": 357, "key_frame_indices": [ 0, 230, 356 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3590.json" } }, { "id": "droid_molmo_sam2_episode_32220", "task": "Remove the green towel and the peach and pink shirts from the basket respectively", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32220/0000.jpg", "droid_molmo_sam2/images/episode_32220/0106.jpg", "droid_molmo_sam2/images/episode_32220/0366.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the green towel and the peach and pink shirts from the basket respectively?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the green towel and the peach and pink shirts from the basket respectively, execute the following phases: 1) Initial approach phase (start at [0.565, 0.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.824]). The trajectory involves 367 precise waypoints with total movement distance of 1.066." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32220", "trajectory_length": 367, "key_frame_indices": [ 0, 106, 366 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32220.json" } }, { "id": "droid_molmo_sam2_episode_37943", "task": "Pick up the cloth and put it on the other chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37943/0000.jpg", "droid_molmo_sam2/images/episode_37943/0132.jpg", "droid_molmo_sam2/images/episode_37943/0427.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and put it on the other chair?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and put it on the other chair, execute the following phases: 1) Initial approach phase (start at [0.501, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.653]). The trajectory involves 428 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37943", "trajectory_length": 428, "key_frame_indices": [ 0, 132, 427 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37943.json" } }, { "id": "droid_molmo_sam2_episode_32291", "task": "Open the blue book", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32291/0000.jpg", "droid_molmo_sam2/images/episode_32291/0147.jpg", "droid_molmo_sam2/images/episode_32291/0227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the blue book?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the blue book, execute the following phases: 1) Initial approach phase (start at [0.399, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.879]). The trajectory involves 228 precise waypoints with total movement distance of 0.817." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32291", "trajectory_length": 228, "key_frame_indices": [ 0, 147, 227 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32291.json" } }, { "id": "droid_molmo_sam2_episode_38033", "task": "Put the green object in the towel then put it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38033/0000.jpg", "droid_molmo_sam2/images/episode_38033/0415.jpg", "droid_molmo_sam2/images/episode_38033/0717.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green object in the towel then put it in the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green object in the towel then put it in the box, execute the following phases: 1) Initial approach phase (start at [0.461, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.409]). The trajectory involves 718 precise waypoints with total movement distance of 3.924." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38033", "trajectory_length": 718, "key_frame_indices": [ 0, 415, 717 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38033.json" } }, { "id": "droid_molmo_sam2_episode_6764", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6764/0000.jpg", "droid_molmo_sam2/images/episode_6764/0156.jpg", "droid_molmo_sam2/images/episode_6764/0185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.874, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.695, 0.399]). The trajectory involves 186 precise waypoints with total movement distance of 0.868." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6764", "trajectory_length": 186, "key_frame_indices": [ 0, 156, 185 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6764.json" } }, { "id": "droid_molmo_sam2_episode_39074", "task": "Move the blue towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39074/0000.jpg", "droid_molmo_sam2/images/episode_39074/0082.jpg", "droid_molmo_sam2/images/episode_39074/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue towel to the left, execute the following phases: 1) Initial approach phase (start at [0.501, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.467, 0.486]). The trajectory involves 111 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39074", "trajectory_length": 111, "key_frame_indices": [ 0, 82, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39074.json" } }, { "id": "droid_molmo_sam2_episode_249", "task": "Fold the dishcloth four times", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_249/0000.jpg", "droid_molmo_sam2/images/episode_249/0185.jpg", "droid_molmo_sam2/images/episode_249/0314.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the dishcloth four times?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the dishcloth four times, execute the following phases: 1) Initial approach phase (start at [0.644, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.757]). The trajectory involves 315 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_249", "trajectory_length": 315, "key_frame_indices": [ 0, 185, 314 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_249.json" } }, { "id": "droid_molmo_sam2_episode_31361", "task": "Pick up the light blue plate from the dish rack and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31361/0000.jpg", "droid_molmo_sam2/images/episode_31361/0166.jpg", "droid_molmo_sam2/images/episode_31361/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the light blue plate from the dish rack and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the light blue plate from the dish rack and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.584, 0.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 0.608]). The trajectory involves 273 precise waypoints with total movement distance of 0.766." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31361", "trajectory_length": 273, "key_frame_indices": [ 0, 166, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31361.json" } }, { "id": "droid_molmo_sam2_episode_31990", "task": "Pour the detergent into the washing machine.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31990/0000.jpg", "droid_molmo_sam2/images/episode_31990/0324.jpg", "droid_molmo_sam2/images/episode_31990/0389.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the detergent into the washing machine.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the detergent into the washing machine., execute the following phases: 1) Initial approach phase (start at [0.658, 0.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 390 precise waypoints with total movement distance of 2.961." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31990", "trajectory_length": 390, "key_frame_indices": [ 0, 324, 389 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31990.json" } }, { "id": "droid_molmo_sam2_episode_7253", "task": "Take the pen out of the glass and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7253/0000.jpg", "droid_molmo_sam2/images/episode_7253/0180.jpg", "droid_molmo_sam2/images/episode_7253/0202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pen out of the glass and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the pen out of the glass and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.423, 0.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.519]). The trajectory involves 203 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7253", "trajectory_length": 203, "key_frame_indices": [ 0, 180, 202 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7253.json" } }, { "id": "droid_molmo_sam2_episode_38545", "task": "Fold up the blue T Shirt on the table.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38545/0000.jpg", "droid_molmo_sam2/images/episode_38545/0408.jpg", "droid_molmo_sam2/images/episode_38545/0512.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold up the blue T Shirt on the table.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold up the blue T Shirt on the table., execute the following phases: 1) Initial approach phase (start at [0.551, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.763]). The trajectory involves 513 precise waypoints with total movement distance of 1.655." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38545", "trajectory_length": 513, "key_frame_indices": [ 0, 408, 512 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38545.json" } }, { "id": "droid_molmo_sam2_episode_31406", "task": "Put the black bowl in the pink bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31406/0000.jpg", "droid_molmo_sam2/images/episode_31406/0088.jpg", "droid_molmo_sam2/images/episode_31406/0132.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black bowl in the pink bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black bowl in the pink bowl, execute the following phases: 1) Initial approach phase (start at [0.374, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.435]). The trajectory involves 133 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31406", "trajectory_length": 133, "key_frame_indices": [ 0, 88, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31406.json" } }, { "id": "droid_molmo_sam2_episode_1999", "task": "Move the mug cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1999/0000.jpg", "droid_molmo_sam2/images/episode_1999/0072.jpg", "droid_molmo_sam2/images/episode_1999/0124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug cup to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug cup to the right, execute the following phases: 1) Initial approach phase (start at [0.516, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.640]). The trajectory involves 125 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1999", "trajectory_length": 125, "key_frame_indices": [ 0, 72, 124 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1999.json" } }, { "id": "droid_molmo_sam2_episode_31232", "task": "Move the marker to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31232/0000.jpg", "droid_molmo_sam2/images/episode_31232/0147.jpg", "droid_molmo_sam2/images/episode_31232/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the marker to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the marker to the left, execute the following phases: 1) Initial approach phase (start at [0.546, 0.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.480]). The trajectory involves 176 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31232", "trajectory_length": 176, "key_frame_indices": [ 0, 147, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31232.json" } }, { "id": "droid_molmo_sam2_episode_31771", "task": "Pick up the cup from the table and slightly move it to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31771/0000.jpg", "droid_molmo_sam2/images/episode_31771/0111.jpg", "droid_molmo_sam2/images/episode_31771/0160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cup from the table and slightly move it to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the cup from the table and slightly move it to the right., execute the following phases: 1) Initial approach phase (start at [0.446, 0.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.557, 0.413]). The trajectory involves 161 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31771", "trajectory_length": 161, "key_frame_indices": [ 0, 111, 160 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31771.json" } }, { "id": "droid_molmo_sam2_episode_33067", "task": "Open and close the glass door.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33067/0000.jpg", "droid_molmo_sam2/images/episode_33067/0241.jpg", "droid_molmo_sam2/images/episode_33067/0493.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open and close the glass door.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open and close the glass door., execute the following phases: 1) Initial approach phase (start at [0.435, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.464]). The trajectory involves 494 precise waypoints with total movement distance of 0.921." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33067", "trajectory_length": 494, "key_frame_indices": [ 0, 241, 493 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33067.json" } }, { "id": "droid_molmo_sam2_episode_35716", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35716/0000.jpg", "droid_molmo_sam2/images/episode_35716/0078.jpg", "droid_molmo_sam2/images/episode_35716/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.560, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.580, 0.492]). The trajectory involves 98 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35716", "trajectory_length": 98, "key_frame_indices": [ 0, 78, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35716.json" } }, { "id": "droid_molmo_sam2_episode_36296", "task": "Pull the blanket to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36296/0000.jpg", "droid_molmo_sam2/images/episode_36296/0250.jpg", "droid_molmo_sam2/images/episode_36296/0286.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull the blanket to the right?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull the blanket to the right, execute the following phases: 1) Initial approach phase (start at [0.355, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.659]). The trajectory involves 287 precise waypoints with total movement distance of 1.014." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36296", "trajectory_length": 287, "key_frame_indices": [ 0, 250, 286 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36296.json" } }, { "id": "droid_molmo_sam2_episode_3038", "task": "Put the black marker into the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3038/0000.jpg", "droid_molmo_sam2/images/episode_3038/0305.jpg", "droid_molmo_sam2/images/episode_3038/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker into the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black marker into the cup, execute the following phases: 1) Initial approach phase (start at [0.631, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.533]). The trajectory involves 341 precise waypoints with total movement distance of 1.019." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3038", "trajectory_length": 341, "key_frame_indices": [ 0, 305, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3038.json" } }, { "id": "droid_molmo_sam2_episode_34731", "task": "Place the white lid on top of the food container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34731/0000.jpg", "droid_molmo_sam2/images/episode_34731/0305.jpg", "droid_molmo_sam2/images/episode_34731/0510.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the food container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white lid on top of the food container, execute the following phases: 1) Initial approach phase (start at [0.482, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.702, 0.405]). The trajectory involves 511 precise waypoints with total movement distance of 1.528." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34731", "trajectory_length": 511, "key_frame_indices": [ 0, 305, 510 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34731.json" } }, { "id": "droid_molmo_sam2_episode_33403", "task": "Pick up the orange and green blocks and put them in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33403/0000.jpg", "droid_molmo_sam2/images/episode_33403/0149.jpg", "droid_molmo_sam2/images/episode_33403/0167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange and green blocks and put them in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange and green blocks and put them in the bowl, execute the following phases: 1) Initial approach phase (start at [0.399, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 168 precise waypoints with total movement distance of 0.867." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33403", "trajectory_length": 168, "key_frame_indices": [ 0, 149, 167 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33403.json" } }, { "id": "droid_molmo_sam2_episode_32201", "task": "Pick up the fruit plush toy from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32201/0000.jpg", "droid_molmo_sam2/images/episode_32201/0146.jpg", "droid_molmo_sam2/images/episode_32201/0195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the fruit plush toy from the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the fruit plush toy from the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.497, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.499]). The trajectory involves 196 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32201", "trajectory_length": 196, "key_frame_indices": [ 0, 146, 195 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32201.json" } }, { "id": "droid_molmo_sam2_episode_37415", "task": "Pick the pump bottle on the counter and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37415/0000.jpg", "droid_molmo_sam2/images/episode_37415/0176.jpg", "droid_molmo_sam2/images/episode_37415/0270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pump bottle on the counter and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pump bottle on the counter and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.631, 0.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.559, 0.323]). The trajectory involves 271 precise waypoints with total movement distance of 1.261." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37415", "trajectory_length": 271, "key_frame_indices": [ 0, 176, 270 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37415.json" } }, { "id": "droid_molmo_sam2_episode_6577", "task": "Move the bottle towards you", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6577/0000.jpg", "droid_molmo_sam2/images/episode_6577/0073.jpg", "droid_molmo_sam2/images/episode_6577/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bottle towards you?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bottle towards you, execute the following phases: 1) Initial approach phase (start at [0.616, 0.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.702, 0.494]). The trajectory involves 158 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6577", "trajectory_length": 158, "key_frame_indices": [ 0, 73, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6577.json" } }, { "id": "droid_molmo_sam2_episode_3219", "task": "Put the marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3219/0000.jpg", "droid_molmo_sam2/images/episode_3219/0251.jpg", "droid_molmo_sam2/images/episode_3219/0283.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.733, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 0.581]). The trajectory involves 284 precise waypoints with total movement distance of 1.247." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3219", "trajectory_length": 284, "key_frame_indices": [ 0, 251, 283 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3219.json" } }, { "id": "droid_molmo_sam2_episode_6552", "task": "Move the white plush toy", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6552/0000.jpg", "droid_molmo_sam2/images/episode_6552/0075.jpg", "droid_molmo_sam2/images/episode_6552/0132.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 [0.344, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.721]). The trajectory involves 133 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6552", "trajectory_length": 133, "key_frame_indices": [ 0, 75, 132 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6552.json" } }, { "id": "droid_molmo_sam2_episode_37165", "task": "Take the orange cup from the table and place it in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37165/0000.jpg", "droid_molmo_sam2/images/episode_37165/0055.jpg", "droid_molmo_sam2/images/episode_37165/0090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the orange cup from the table and place it in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the orange cup from the table and place it in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.420, 0.668]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.535]). The trajectory involves 91 precise waypoints with total movement distance of 0.564." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37165", "trajectory_length": 91, "key_frame_indices": [ 0, 55, 90 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37165.json" } }, { "id": "droid_molmo_sam2_episode_3487", "task": "Stack the pots set on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3487/0000.jpg", "droid_molmo_sam2/images/episode_3487/0063.jpg", "droid_molmo_sam2/images/episode_3487/0300.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stack the pots set on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stack the pots set on the counter, execute the following phases: 1) Initial approach phase (start at [0.289, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.613]). The trajectory involves 301 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3487", "trajectory_length": 301, "key_frame_indices": [ 0, 63, 300 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3487.json" } }, { "id": "droid_molmo_sam2_episode_37310", "task": "Slide out the storage container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37310/0000.jpg", "droid_molmo_sam2/images/episode_37310/0118.jpg", "droid_molmo_sam2/images/episode_37310/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide out the storage container?" }, { "from": "gpt", "value": "To complete this repositioning: Slide out the storage container, execute the following phases: 1) Initial approach phase (start at [0.448, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.799]). The trajectory involves 162 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37310", "trajectory_length": 162, "key_frame_indices": [ 0, 118, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37310.json" } }, { "id": "droid_molmo_sam2_episode_6379", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6379/0000.jpg", "droid_molmo_sam2/images/episode_6379/0213.jpg", "droid_molmo_sam2/images/episode_6379/0267.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.607, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.713, 0.494]). The trajectory involves 268 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6379", "trajectory_length": 268, "key_frame_indices": [ 0, 213, 267 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6379.json" } }, { "id": "droid_molmo_sam2_episode_39575", "task": "Put the can directly on the nightstand", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39575/0000.jpg", "droid_molmo_sam2/images/episode_39575/0098.jpg", "droid_molmo_sam2/images/episode_39575/0128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can directly on the nightstand?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can directly on the nightstand, execute the following phases: 1) Initial approach phase (start at [0.391, 0.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.476]). The trajectory involves 129 precise waypoints with total movement distance of 0.393." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39575", "trajectory_length": 129, "key_frame_indices": [ 0, 98, 128 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39575.json" } }, { "id": "droid_molmo_sam2_episode_3883", "task": "Put the marker in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3883/0000.jpg", "droid_molmo_sam2/images/episode_3883/0166.jpg", "droid_molmo_sam2/images/episode_3883/0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker in the cup, execute the following phases: 1) Initial approach phase (start at [0.537, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.748]). The trajectory involves 221 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3883", "trajectory_length": 221, "key_frame_indices": [ 0, 166, 220 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3883.json" } }, { "id": "droid_molmo_sam2_episode_834", "task": "Move the black marker slightly to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_834/0000.jpg", "droid_molmo_sam2/images/episode_834/0117.jpg", "droid_molmo_sam2/images/episode_834/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the black marker slightly to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the black marker slightly to the left, execute the following phases: 1) Initial approach phase (start at [0.682, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.504]). The trajectory involves 135 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_834", "trajectory_length": 135, "key_frame_indices": [ 0, 117, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_834.json" } }, { "id": "droid_molmo_sam2_episode_4018", "task": "Put the orange block on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4018/0000.jpg", "droid_molmo_sam2/images/episode_4018/0064.jpg", "droid_molmo_sam2/images/episode_4018/0152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange block on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange block on the table, execute the following phases: 1) Initial approach phase (start at [0.435, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.518]). The trajectory involves 153 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4018", "trajectory_length": 153, "key_frame_indices": [ 0, 64, 152 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4018.json" } }, { "id": "droid_molmo_sam2_episode_6389", "task": "Plug the charger head in the middle of the adapter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6389/0000.jpg", "droid_molmo_sam2/images/episode_6389/0381.jpg", "droid_molmo_sam2/images/episode_6389/0505.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_molmo_sam2 manipulation: Plug the charger head in the middle of the adapter, execute the following phases: 1) Initial approach phase (start at [0.549, 0.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.657]). The trajectory involves 506 precise waypoints with total movement distance of 0.699." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6389", "trajectory_length": 506, "key_frame_indices": [ 0, 381, 505 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6389.json" } }, { "id": "droid_molmo_sam2_episode_34173", "task": "Move the pink cup to the right side of the green plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34173/0000.jpg", "droid_molmo_sam2/images/episode_34173/0176.jpg", "droid_molmo_sam2/images/episode_34173/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the pink cup to the right side of the green plate?" }, { "from": "gpt", "value": "To complete this repositioning: Move the pink cup to the right side of the green plate, execute the following phases: 1) Initial approach phase (start at [0.770, 0.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 223 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34173", "trajectory_length": 223, "key_frame_indices": [ 0, 176, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34173.json" } }, { "id": "droid_molmo_sam2_episode_32459", "task": "Pick up the orange toy from the table and put it in the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32459/0000.jpg", "droid_molmo_sam2/images/episode_32459/0083.jpg", "droid_molmo_sam2/images/episode_32459/0134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange toy from the table and put it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the orange toy from the table and put it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.695, 0.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.497]). The trajectory involves 135 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32459", "trajectory_length": 135, "key_frame_indices": [ 0, 83, 134 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32459.json" } }, { "id": "droid_molmo_sam2_episode_3107", "task": "Take the black pen out of the brown cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3107/0000.jpg", "droid_molmo_sam2/images/episode_3107/0099.jpg", "droid_molmo_sam2/images/episode_3107/0165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the black pen out of the brown cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the black pen out of the brown cup, execute the following phases: 1) Initial approach phase (start at [0.591, 0.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.416]). The trajectory involves 166 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3107", "trajectory_length": 166, "key_frame_indices": [ 0, 99, 165 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3107.json" } }, { "id": "droid_molmo_sam2_episode_2284", "task": "Pour the things in the blue cup onto the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2284/0000.jpg", "droid_molmo_sam2/images/episode_2284/0345.jpg", "droid_molmo_sam2/images/episode_2284/0755.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the things in the blue cup onto the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the things in the blue cup onto the plate, execute the following phases: 1) Initial approach phase (start at [0.754, 0.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.785, 0.222]). The trajectory involves 756 precise waypoints with total movement distance of 1.602." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2284", "trajectory_length": 756, "key_frame_indices": [ 0, 345, 755 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2284.json" } }, { "id": "droid_molmo_sam2_episode_33208", "task": "Pick up the lid from the table and cover it on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33208/0000.jpg", "droid_molmo_sam2/images/episode_33208/0122.jpg", "droid_molmo_sam2/images/episode_33208/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the lid from the table and cover it on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up the lid from the table and cover it on the pot, execute the following phases: 1) Initial approach phase (start at [0.407, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.589]). The trajectory involves 197 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33208", "trajectory_length": 197, "key_frame_indices": [ 0, 122, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33208.json" } }, { "id": "droid_molmo_sam2_episode_2808", "task": "Place the green marker inside the grey bowl on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2808/0000.jpg", "droid_molmo_sam2/images/episode_2808/0123.jpg", "droid_molmo_sam2/images/episode_2808/0196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the green marker inside the grey bowl on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the green marker inside the grey bowl on the table, execute the following phases: 1) Initial approach phase (start at [0.359, 0.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 197 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2808", "trajectory_length": 197, "key_frame_indices": [ 0, 123, 196 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2808.json" } }, { "id": "droid_molmo_sam2_episode_33579", "task": "Turn the faucet to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33579/0000.jpg", "droid_molmo_sam2/images/episode_33579/0131.jpg", "droid_molmo_sam2/images/episode_33579/0169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the faucet to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the faucet to the left, execute the following phases: 1) Initial approach phase (start at [0.517, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.513]). The trajectory involves 170 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33579", "trajectory_length": 170, "key_frame_indices": [ 0, 131, 169 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33579.json" } }, { "id": "droid_molmo_sam2_episode_32963", "task": "Put the white cloth on the wooden board", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32963/0000.jpg", "droid_molmo_sam2/images/episode_32963/0125.jpg", "droid_molmo_sam2/images/episode_32963/0203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white cloth on the wooden board?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white cloth on the wooden board, execute the following phases: 1) Initial approach phase (start at [0.421, 0.894]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.567]). The trajectory involves 204 precise waypoints with total movement distance of 1.251." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32963", "trajectory_length": 204, "key_frame_indices": [ 0, 125, 203 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32963.json" } }, { "id": "droid_molmo_sam2_episode_33237", "task": "Put the pen in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33237/0000.jpg", "droid_molmo_sam2/images/episode_33237/0145.jpg", "droid_molmo_sam2/images/episode_33237/0207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the mug, execute the following phases: 1) Initial approach phase (start at [0.440, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 208 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33237", "trajectory_length": 208, "key_frame_indices": [ 0, 145, 207 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33237.json" } }, { "id": "droid_molmo_sam2_episode_36121", "task": "Move the glove from the hook on the left to the hook on the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36121/0000.jpg", "droid_molmo_sam2/images/episode_36121/0354.jpg", "droid_molmo_sam2/images/episode_36121/0382.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the glove from the hook on the left to the hook on the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the glove from the hook on the left to the hook on the right, execute the following phases: 1) Initial approach phase (start at [0.404, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.514]). The trajectory involves 383 precise waypoints with total movement distance of 1.230." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36121", "trajectory_length": 383, "key_frame_indices": [ 0, 354, 382 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36121.json" } }, { "id": "droid_molmo_sam2_episode_31059", "task": "Close the bottom drawer of the left cabinet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31059/0000.jpg", "droid_molmo_sam2/images/episode_31059/0071.jpg", "droid_molmo_sam2/images/episode_31059/0072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom drawer of the left cabinet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom drawer of the left cabinet, execute the following phases: 1) Initial approach phase (start at [0.503, 0.948]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.342, 0.969]). The trajectory involves 73 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31059", "trajectory_length": 73, "key_frame_indices": [ 0, 71, 72 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31059.json" } }, { "id": "droid_molmo_sam2_episode_34399", "task": "Transfer one spoon of contents from the bowl to the white cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34399/0000.jpg", "droid_molmo_sam2/images/episode_34399/0698.jpg", "droid_molmo_sam2/images/episode_34399/0769.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Transfer one spoon of contents from the bowl to the white cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Transfer one spoon of contents from the bowl to the white cup, execute the following phases: 1) Initial approach phase (start at [0.319, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.812]). The trajectory involves 770 precise waypoints with total movement distance of 3.653." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34399", "trajectory_length": 770, "key_frame_indices": [ 0, 698, 769 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34399.json" } }, { "id": "droid_molmo_sam2_episode_31309", "task": "Pick up the cloth and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31309/0000.jpg", "droid_molmo_sam2/images/episode_31309/0077.jpg", "droid_molmo_sam2/images/episode_31309/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the cloth and put it on the table?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the cloth and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.536, 0.380]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.607, 0.781]). The trajectory involves 100 precise waypoints with total movement distance of 0.486." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31309", "trajectory_length": 100, "key_frame_indices": [ 0, 77, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31309.json" } }, { "id": "droid_molmo_sam2_episode_33994", "task": "Unfold the the grey cloth on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33994/0000.jpg", "droid_molmo_sam2/images/episode_33994/0109.jpg", "droid_molmo_sam2/images/episode_33994/0347.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the the grey cloth on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the the grey cloth on the table, execute the following phases: 1) Initial approach phase (start at [0.287, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.245, 0.769]). The trajectory involves 348 precise waypoints with total movement distance of 0.641." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33994", "trajectory_length": 348, "key_frame_indices": [ 0, 109, 347 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33994.json" } }, { "id": "droid_molmo_sam2_episode_3119", "task": "Put the grey vessel inside the black waste bin", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3119/0000.jpg", "droid_molmo_sam2/images/episode_3119/0272.jpg", "droid_molmo_sam2/images/episode_3119/0322.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the grey vessel inside the black waste bin?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the grey vessel inside the black waste bin, execute the following phases: 1) Initial approach phase (start at [0.609, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.598]). The trajectory involves 323 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3119", "trajectory_length": 323, "key_frame_indices": [ 0, 272, 322 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3119.json" } }, { "id": "droid_molmo_sam2_episode_39397", "task": "Put the marker into the white mug.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39397/0000.jpg", "droid_molmo_sam2/images/episode_39397/0141.jpg", "droid_molmo_sam2/images/episode_39397/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker into the white mug.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker into the white mug., execute the following phases: 1) Initial approach phase (start at [0.517, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.603]). The trajectory involves 159 precise waypoints with total movement distance of 0.854." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39397", "trajectory_length": 159, "key_frame_indices": [ 0, 141, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39397.json" } }, { "id": "droid_molmo_sam2_episode_36636", "task": "Move the coffee cup at the front to the right.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36636/0000.jpg", "droid_molmo_sam2/images/episode_36636/0107.jpg", "droid_molmo_sam2/images/episode_36636/0186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the coffee cup at the front to the right.?" }, { "from": "gpt", "value": "To complete this repositioning: Move the coffee cup at the front to the right., execute the following phases: 1) Initial approach phase (start at [0.260, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.516]). The trajectory involves 187 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36636", "trajectory_length": 187, "key_frame_indices": [ 0, 107, 186 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36636.json" } }, { "id": "droid_molmo_sam2_episode_39420", "task": "Put the lid on the table then put it back on the silver container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39420/0000.jpg", "droid_molmo_sam2/images/episode_39420/0390.jpg", "droid_molmo_sam2/images/episode_39420/0607.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the table then put it back on the silver container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the table then put it back on the silver container, execute the following phases: 1) Initial approach phase (start at [0.687, 0.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.656, 0.407]). The trajectory involves 608 precise waypoints with total movement distance of 0.961." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39420", "trajectory_length": 608, "key_frame_indices": [ 0, 390, 607 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39420.json" } }, { "id": "droid_molmo_sam2_episode_7133", "task": "Slide the cup backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7133/0000.jpg", "droid_molmo_sam2/images/episode_7133/0081.jpg", "droid_molmo_sam2/images/episode_7133/0112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the cup backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the cup backwards, execute the following phases: 1) Initial approach phase (start at [0.461, 0.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.484]). The trajectory involves 113 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7133", "trajectory_length": 113, "key_frame_indices": [ 0, 81, 112 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7133.json" } }, { "id": "droid_molmo_sam2_episode_3439", "task": "Pick up the rubber duck and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3439/0000.jpg", "droid_molmo_sam2/images/episode_3439/0072.jpg", "droid_molmo_sam2/images/episode_3439/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the rubber duck and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the rubber duck and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.450, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.596]). The trajectory involves 89 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3439", "trajectory_length": 89, "key_frame_indices": [ 0, 72, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3439.json" } }, { "id": "droid_molmo_sam2_episode_39321", "task": "Pick up the blue can and put it on the windowsill", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39321/0000.jpg", "droid_molmo_sam2/images/episode_39321/0121.jpg", "droid_molmo_sam2/images/episode_39321/0209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the blue can and put it on the windowsill?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the blue can and put it on the windowsill, execute the following phases: 1) Initial approach phase (start at [0.353, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.678, 0.272]). The trajectory involves 210 precise waypoints with total movement distance of 1.135." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39321", "trajectory_length": 210, "key_frame_indices": [ 0, 121, 209 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39321.json" } }, { "id": "droid_molmo_sam2_episode_30906", "task": "Use the red and white towel to wipe the tabletop", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30906/0000.jpg", "droid_molmo_sam2/images/episode_30906/0261.jpg", "droid_molmo_sam2/images/episode_30906/0363.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Use the red and white towel to wipe the tabletop?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Use the red and white towel to wipe the tabletop, execute the following phases: 1) Initial approach phase (start at [0.556, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.665]). The trajectory involves 364 precise waypoints with total movement distance of 2.064." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30906", "trajectory_length": 364, "key_frame_indices": [ 0, 261, 363 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30906.json" } }, { "id": "droid_molmo_sam2_episode_438", "task": "Get the blue cup and stack it in the orange cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_438/0000.jpg", "droid_molmo_sam2/images/episode_438/0116.jpg", "droid_molmo_sam2/images/episode_438/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Get the blue cup and stack it in the orange cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Get the blue cup and stack it in the orange cup, execute the following phases: 1) Initial approach phase (start at [0.547, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.605]). The trajectory involves 141 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_438", "trajectory_length": 141, "key_frame_indices": [ 0, 116, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_438.json" } }, { "id": "droid_molmo_sam2_episode_4109", "task": "Put the carrot on the silver pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4109/0000.jpg", "droid_molmo_sam2/images/episode_4109/0126.jpg", "droid_molmo_sam2/images/episode_4109/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the carrot on the silver pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the carrot on the silver pan, execute the following phases: 1) Initial approach phase (start at [0.585, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.500]). The trajectory involves 152 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4109", "trajectory_length": 152, "key_frame_indices": [ 0, 126, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4109.json" } }, { "id": "droid_molmo_sam2_episode_7358", "task": "Put the silver object inside the light blue cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7358/0000.jpg", "droid_molmo_sam2/images/episode_7358/0105.jpg", "droid_molmo_sam2/images/episode_7358/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the silver object inside the light blue cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the silver object inside the light blue cup, execute the following phases: 1) Initial approach phase (start at [0.584, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.664]). The trajectory involves 127 precise waypoints with total movement distance of 0.081." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7358", "trajectory_length": 127, "key_frame_indices": [ 0, 105, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7358.json" } }, { "id": "droid_molmo_sam2_episode_38931", "task": "Pick up the pen and place it in the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38931/0000.jpg", "droid_molmo_sam2/images/episode_38931/0143.jpg", "droid_molmo_sam2/images/episode_38931/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pen and place it in the bowl.?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the pen and place it in the bowl., execute the following phases: 1) Initial approach phase (start at [0.365, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.525, 0.618]). The trajectory involves 159 precise waypoints with total movement distance of 0.641." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38931", "trajectory_length": 159, "key_frame_indices": [ 0, 143, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38931.json" } }, { "id": "droid_molmo_sam2_episode_1117", "task": "Place the white lid on top of the food container", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1117/0000.jpg", "droid_molmo_sam2/images/episode_1117/0106.jpg", "droid_molmo_sam2/images/episode_1117/0250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the white lid on top of the food container?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the white lid on top of the food container, execute the following phases: 1) Initial approach phase (start at [0.589, 0.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.370]). The trajectory involves 251 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1117", "trajectory_length": 251, "key_frame_indices": [ 0, 106, 250 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1117.json" } }, { "id": "droid_molmo_sam2_episode_4064", "task": "Pick the pen on the table and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4064/0000.jpg", "droid_molmo_sam2/images/episode_4064/0096.jpg", "droid_molmo_sam2/images/episode_4064/0110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the pen on the table and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the pen on the table and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.373, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.667]). The trajectory involves 111 precise waypoints with total movement distance of 0.690." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4064", "trajectory_length": 111, "key_frame_indices": [ 0, 96, 110 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4064.json" } }, { "id": "droid_molmo_sam2_episode_38977", "task": "Put the sharpie on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38977/0000.jpg", "droid_molmo_sam2/images/episode_38977/0106.jpg", "droid_molmo_sam2/images/episode_38977/0120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the sharpie on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the sharpie on the table, execute the following phases: 1) Initial approach phase (start at [0.513, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.481]). The trajectory involves 121 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38977", "trajectory_length": 121, "key_frame_indices": [ 0, 106, 120 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38977.json" } }, { "id": "droid_molmo_sam2_episode_37217", "task": "Fold the yellow cloth in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37217/0000.jpg", "droid_molmo_sam2/images/episode_37217/0323.jpg", "droid_molmo_sam2/images/episode_37217/0340.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the yellow cloth in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the yellow cloth in half, execute the following phases: 1) Initial approach phase (start at [0.679, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.669]). The trajectory involves 341 precise waypoints with total movement distance of 0.669." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37217", "trajectory_length": 341, "key_frame_indices": [ 0, 323, 340 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37217.json" } }, { "id": "droid_molmo_sam2_episode_37220", "task": "Hang the cloth on the black rod", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37220/0000.jpg", "droid_molmo_sam2/images/episode_37220/0193.jpg", "droid_molmo_sam2/images/episode_37220/0379.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Hang the cloth on the black rod?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Hang the cloth on the black rod, execute the following phases: 1) Initial approach phase (start at [0.521, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.260]). The trajectory involves 380 precise waypoints with total movement distance of 1.690." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37220", "trajectory_length": 380, "key_frame_indices": [ 0, 193, 379 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37220.json" } }, { "id": "droid_molmo_sam2_episode_38286", "task": "Unhang the towel, wipe the base top and hang it back", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38286/0000.jpg", "droid_molmo_sam2/images/episode_38286/0109.jpg", "droid_molmo_sam2/images/episode_38286/0476.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unhang the towel, wipe the base top and hang it back?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unhang the towel, wipe the base top and hang it back, execute the following phases: 1) Initial approach phase (start at [0.727, 0.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.303]). The trajectory involves 477 precise waypoints with total movement distance of 3.448." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38286", "trajectory_length": 477, "key_frame_indices": [ 0, 109, 476 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38286.json" } }, { "id": "droid_molmo_sam2_episode_1217", "task": "Push the clear storage box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1217/0000.jpg", "droid_molmo_sam2/images/episode_1217/0100.jpg", "droid_molmo_sam2/images/episode_1217/0126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Push the clear storage box?" }, { "from": "gpt", "value": "To complete this button/switch activation: Push the clear storage box, execute the following phases: 1) Initial approach phase (start at [0.494, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.793]). The trajectory involves 127 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1217", "trajectory_length": 127, "key_frame_indices": [ 0, 100, 126 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1217.json" } }, { "id": "droid_molmo_sam2_episode_7310", "task": "Pull out the clear storage box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7310/0000.jpg", "droid_molmo_sam2/images/episode_7310/0139.jpg", "droid_molmo_sam2/images/episode_7310/0178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pull out the clear storage box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pull out the clear storage box, execute the following phases: 1) Initial approach phase (start at [0.452, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.799]). The trajectory involves 179 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7310", "trajectory_length": 179, "key_frame_indices": [ 0, 139, 178 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7310.json" } }, { "id": "droid_molmo_sam2_episode_7030", "task": "Put the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7030/0000.jpg", "droid_molmo_sam2/images/episode_7030/0062.jpg", "droid_molmo_sam2/images/episode_7030/0070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.516, 0.741]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 71 precise waypoints with total movement distance of 1.077." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7030", "trajectory_length": 71, "key_frame_indices": [ 0, 62, 70 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7030.json" } }, { "id": "droid_molmo_sam2_episode_910", "task": "Put the towel on the table into the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_910/0000.jpg", "droid_molmo_sam2/images/episode_910/1312.jpg", "droid_molmo_sam2/images/episode_910/1346.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towel on the table into the box?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towel on the table into the box, execute the following phases: 1) Initial approach phase (start at [0.329, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 1347 precise waypoints with total movement distance of 2.470." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_910", "trajectory_length": 1347, "key_frame_indices": [ 0, 1312, 1346 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_910.json" } }, { "id": "droid_molmo_sam2_episode_2789", "task": "Move the shirt from the arm rest to the back of the chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2789/0000.jpg", "droid_molmo_sam2/images/episode_2789/0088.jpg", "droid_molmo_sam2/images/episode_2789/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the shirt from the arm rest to the back of the chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the shirt from the arm rest to the back of the chair, execute the following phases: 1) Initial approach phase (start at [0.543, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.327]). The trajectory involves 202 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2789", "trajectory_length": 202, "key_frame_indices": [ 0, 88, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2789.json" } }, { "id": "droid_molmo_sam2_episode_4468", "task": "Stir in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4468/0000.jpg", "droid_molmo_sam2/images/episode_4468/0150.jpg", "droid_molmo_sam2/images/episode_4468/0349.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Stir in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Stir in the bowl, 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 [0.675, 0.721]). The trajectory involves 350 precise waypoints with total movement distance of 1.063." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4468", "trajectory_length": 350, "key_frame_indices": [ 0, 150, 349 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4468.json" } }, { "id": "droid_molmo_sam2_episode_1206", "task": "Turn the tap to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1206/0000.jpg", "droid_molmo_sam2/images/episode_1206/0102.jpg", "droid_molmo_sam2/images/episode_1206/0138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Turn the tap to the left?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Turn the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.665, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.652, 0.662]). The trajectory involves 139 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1206", "trajectory_length": 139, "key_frame_indices": [ 0, 102, 138 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1206.json" } }, { "id": "droid_molmo_sam2_episode_686", "task": "Unstack the cups", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_686/0000.jpg", "droid_molmo_sam2/images/episode_686/0117.jpg", "droid_molmo_sam2/images/episode_686/0201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unstack the cups?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unstack the cups, execute the following phases: 1) Initial approach phase (start at [0.429, 0.945]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.788]). The trajectory involves 202 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_686", "trajectory_length": 202, "key_frame_indices": [ 0, 117, 201 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_686.json" } }, { "id": "droid_molmo_sam2_episode_35915", "task": "Pick up the Doritos blue packet and put it inside the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35915/0000.jpg", "droid_molmo_sam2/images/episode_35915/0117.jpg", "droid_molmo_sam2/images/episode_35915/0181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the Doritos blue packet and put it inside the sink?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the Doritos blue packet and put it inside the sink, execute the following phases: 1) Initial approach phase (start at [0.325, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.929]). The trajectory involves 182 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35915", "trajectory_length": 182, "key_frame_indices": [ 0, 117, 181 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35915.json" } }, { "id": "droid_molmo_sam2_episode_31352", "task": "Pick up the orange object and put it in the bowl.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31352/0000.jpg", "droid_molmo_sam2/images/episode_31352/0092.jpg", "droid_molmo_sam2/images/episode_31352/0096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the orange object 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., execute the following phases: 1) Initial approach phase (start at [0.618, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.664, 0.658]). The trajectory involves 97 precise waypoints with total movement distance of 1.159." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31352", "trajectory_length": 97, "key_frame_indices": [ 0, 92, 96 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31352.json" } }, { "id": "droid_molmo_sam2_episode_32520", "task": "Move the can towards the right edge of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32520/0000.jpg", "droid_molmo_sam2/images/episode_32520/0150.jpg", "droid_molmo_sam2/images/episode_32520/0280.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the can towards the right edge of the table?" }, { "from": "gpt", "value": "To complete this repositioning: Move the can towards the right edge of the table, execute the following phases: 1) Initial approach phase (start at [0.438, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.626]). The trajectory involves 281 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32520", "trajectory_length": 281, "key_frame_indices": [ 0, 150, 280 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32520.json" } }, { "id": "droid_molmo_sam2_episode_35313", "task": "Move the bag to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35313/0000.jpg", "droid_molmo_sam2/images/episode_35313/0207.jpg", "droid_molmo_sam2/images/episode_35313/0238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bag to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bag to the right, execute the following phases: 1) Initial approach phase (start at [0.582, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.518]). The trajectory involves 239 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35313", "trajectory_length": 239, "key_frame_indices": [ 0, 207, 238 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35313.json" } }, { "id": "droid_molmo_sam2_episode_4336", "task": "Remove the orange can from the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4336/0000.jpg", "droid_molmo_sam2/images/episode_4336/0141.jpg", "droid_molmo_sam2/images/episode_4336/0266.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 [0.499, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 0.684]). The trajectory involves 267 precise waypoints with total movement distance of 0.680." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4336", "trajectory_length": 267, "key_frame_indices": [ 0, 141, 266 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4336.json" } }, { "id": "droid_molmo_sam2_episode_465", "task": "Put the green can in the sink.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_465/0000.jpg", "droid_molmo_sam2/images/episode_465/0035.jpg", "droid_molmo_sam2/images/episode_465/0229.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_molmo_sam2 manipulation: Put the green can in the sink., execute the following phases: 1) Initial approach phase (start at [0.287, 0.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.838]). The trajectory involves 230 precise waypoints with total movement distance of 1.136." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_465", "trajectory_length": 230, "key_frame_indices": [ 0, 35, 229 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_465.json" } }, { "id": "droid_molmo_sam2_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_molmo_sam2/images/episode_6397/0000.jpg", "droid_molmo_sam2/images/episode_6397/0209.jpg", "droid_molmo_sam2/images/episode_6397/0327.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_molmo_sam2 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 [0.738, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.694, 0.733]). The trajectory involves 328 precise waypoints with total movement distance of 1.187." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6397", "trajectory_length": 328, "key_frame_indices": [ 0, 209, 327 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6397.json" } }, { "id": "droid_molmo_sam2_episode_6060", "task": "Remove the bottle from the storage box and put it on the grey towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6060/0000.jpg", "droid_molmo_sam2/images/episode_6060/0131.jpg", "droid_molmo_sam2/images/episode_6060/0297.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the bottle from the storage box and put it on the grey towel?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the bottle from the storage box and put it on the grey towel, execute the following phases: 1) Initial approach phase (start at [0.471, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.788]). The trajectory involves 298 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6060", "trajectory_length": 298, "key_frame_indices": [ 0, 131, 297 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6060.json" } }, { "id": "droid_molmo_sam2_episode_3523", "task": "Move the white object from the left to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3523/0000.jpg", "droid_molmo_sam2/images/episode_3523/0082.jpg", "droid_molmo_sam2/images/episode_3523/0121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white object from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white object from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.574, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.537]). The trajectory involves 122 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3523", "trajectory_length": 122, "key_frame_indices": [ 0, 82, 121 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3523.json" } }, { "id": "droid_molmo_sam2_episode_6978", "task": "Pick the cloth on the tray and wipe the pan", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6978/0000.jpg", "droid_molmo_sam2/images/episode_6978/0142.jpg", "droid_molmo_sam2/images/episode_6978/0453.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the cloth on the tray and wipe the pan?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the cloth on the tray and wipe the pan, execute the following phases: 1) Initial approach phase (start at [0.544, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.823]). The trajectory involves 454 precise waypoints with total movement distance of 1.967." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6978", "trajectory_length": 454, "key_frame_indices": [ 0, 142, 453 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6978.json" } }, { "id": "droid_molmo_sam2_episode_38662", "task": "Move the bowl closer to the edge", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38662/0000.jpg", "droid_molmo_sam2/images/episode_38662/0072.jpg", "droid_molmo_sam2/images/episode_38662/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the bowl closer to the edge?" }, { "from": "gpt", "value": "To complete this repositioning: Move the bowl closer to the edge, execute the following phases: 1) Initial approach phase (start at [0.605, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.698]). The trajectory involves 112 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38662", "trajectory_length": 112, "key_frame_indices": [ 0, 72, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38662.json" } }, { "id": "droid_molmo_sam2_episode_31249", "task": "Put the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31249/0000.jpg", "droid_molmo_sam2/images/episode_31249/0117.jpg", "droid_molmo_sam2/images/episode_31249/0142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.583, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.576]). The trajectory involves 143 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31249", "trajectory_length": 143, "key_frame_indices": [ 0, 117, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31249.json" } }, { "id": "droid_molmo_sam2_episode_1367", "task": "Move the mug to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1367/0000.jpg", "droid_molmo_sam2/images/episode_1367/0142.jpg", "droid_molmo_sam2/images/episode_1367/0177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the left, execute the following phases: 1) Initial approach phase (start at [0.570, 0.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.394]). The trajectory involves 178 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1367", "trajectory_length": 178, "key_frame_indices": [ 0, 142, 177 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1367.json" } }, { "id": "droid_molmo_sam2_episode_37086", "task": "Slide the towel to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37086/0000.jpg", "droid_molmo_sam2/images/episode_37086/0085.jpg", "droid_molmo_sam2/images/episode_37086/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Slide the towel to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Slide the towel to the left, execute the following phases: 1) Initial approach phase (start at [0.598, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.526, 0.526]). The trajectory involves 110 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37086", "trajectory_length": 110, "key_frame_indices": [ 0, 85, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37086.json" } }, { "id": "droid_molmo_sam2_episode_7240", "task": "Take the marker out of the mug and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7240/0000.jpg", "droid_molmo_sam2/images/episode_7240/0107.jpg", "droid_molmo_sam2/images/episode_7240/0114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the mug and put it on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the mug and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.530, 0.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.529, 0.657]). The trajectory involves 115 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7240", "trajectory_length": 115, "key_frame_indices": [ 0, 107, 114 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7240.json" } }, { "id": "droid_molmo_sam2_episode_31971", "task": "Unfold the towel", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31971/0000.jpg", "droid_molmo_sam2/images/episode_31971/0147.jpg", "droid_molmo_sam2/images/episode_31971/0410.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the towel?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the towel, execute the following phases: 1) Initial approach phase (start at [0.637, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.720]). The trajectory involves 411 precise waypoints with total movement distance of 1.097." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31971", "trajectory_length": 411, "key_frame_indices": [ 0, 147, 410 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31971.json" } }, { "id": "droid_molmo_sam2_episode_32508", "task": "Move the brown jar to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32508/0000.jpg", "droid_molmo_sam2/images/episode_32508/0276.jpg", "droid_molmo_sam2/images/episode_32508/0351.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the brown jar to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the brown jar to the right, execute the following phases: 1) Initial approach phase (start at [0.615, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.467]). The trajectory involves 352 precise waypoints with total movement distance of 1.120." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32508", "trajectory_length": 352, "key_frame_indices": [ 0, 276, 351 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32508.json" } }, { "id": "droid_molmo_sam2_episode_37057", "task": "Close the drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37057/0000.jpg", "droid_molmo_sam2/images/episode_37057/0127.jpg", "droid_molmo_sam2/images/episode_37057/0164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the drawer, execute the following phases: 1) Initial approach phase (start at [0.496, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.840]). The trajectory involves 165 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37057", "trajectory_length": 165, "key_frame_indices": [ 0, 127, 164 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37057.json" } }, { "id": "droid_molmo_sam2_episode_34676", "task": "Press the power button on the extension cord.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34676/0000.jpg", "droid_molmo_sam2/images/episode_34676/0132.jpg", "droid_molmo_sam2/images/episode_34676/0151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Press the power button on the extension cord.?" }, { "from": "gpt", "value": "To complete this button/switch activation: Press the power button on the extension cord., execute the following phases: 1) Initial approach phase (start at [0.622, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.544]). The trajectory involves 152 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34676", "trajectory_length": 152, "key_frame_indices": [ 0, 132, 151 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34676.json" } }, { "id": "droid_molmo_sam2_episode_6614", "task": "Move the red spatula to the cabinet top", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6614/0000.jpg", "droid_molmo_sam2/images/episode_6614/0186.jpg", "droid_molmo_sam2/images/episode_6614/0194.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 [0.464, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.360]). The trajectory involves 195 precise waypoints with total movement distance of 0.955." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6614", "trajectory_length": 195, "key_frame_indices": [ 0, 186, 194 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6614.json" } }, { "id": "droid_molmo_sam2_episode_31026", "task": "Move the mug backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31026/0000.jpg", "droid_molmo_sam2/images/episode_31026/0043.jpg", "droid_molmo_sam2/images/episode_31026/0097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug backwards, execute the following phases: 1) Initial approach phase (start at [0.563, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.616, 0.516]). The trajectory involves 98 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31026", "trajectory_length": 98, "key_frame_indices": [ 0, 43, 97 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31026.json" } }, { "id": "droid_molmo_sam2_episode_7276", "task": "Put the orange cup in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7276/0000.jpg", "droid_molmo_sam2/images/episode_7276/0179.jpg", "droid_molmo_sam2/images/episode_7276/0266.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the orange cup in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the orange cup in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.357, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.543]). The trajectory involves 267 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7276", "trajectory_length": 267, "key_frame_indices": [ 0, 179, 266 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7276.json" } }, { "id": "droid_molmo_sam2_episode_4465", "task": "Remove the red lid from the bowl and place it on the right side of the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4465/0000.jpg", "droid_molmo_sam2/images/episode_4465/0183.jpg", "droid_molmo_sam2/images/episode_4465/0220.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?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the red lid from the bowl and place it on the right side of the table, execute the following phases: 1) Initial approach phase (start at [0.638, 0.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.791, 0.633]). The trajectory involves 221 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4465", "trajectory_length": 221, "key_frame_indices": [ 0, 183, 220 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4465.json" } }, { "id": "droid_molmo_sam2_episode_39520", "task": "Remove the t-shirts from the backrest of the grey chair and place them on the brown box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39520/0000.jpg", "droid_molmo_sam2/images/episode_39520/0122.jpg", "droid_molmo_sam2/images/episode_39520/0283.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the t-shirts from the backrest of the grey chair and place them on the brown box?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the t-shirts from the backrest of the grey chair and place them on the brown box, execute the following phases: 1) Initial approach phase (start at [0.375, 0.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.553]). The trajectory involves 284 precise waypoints with total movement distance of 0.866." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39520", "trajectory_length": 284, "key_frame_indices": [ 0, 122, 283 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39520.json" } }, { "id": "droid_molmo_sam2_episode_32180", "task": "Move the cup to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32180/0000.jpg", "droid_molmo_sam2/images/episode_32180/0165.jpg", "droid_molmo_sam2/images/episode_32180/0200.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 [0.511, 0.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.250]). The trajectory involves 201 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32180", "trajectory_length": 201, "key_frame_indices": [ 0, 165, 200 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32180.json" } }, { "id": "droid_molmo_sam2_episode_2870", "task": "Straighten the towel on the chair.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2870/0000.jpg", "droid_molmo_sam2/images/episode_2870/0103.jpg", "droid_molmo_sam2/images/episode_2870/0131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Straighten the towel on the chair.?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Straighten the towel on the chair., execute the following phases: 1) Initial approach phase (start at [0.443, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.591]). The trajectory involves 132 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2870", "trajectory_length": 132, "key_frame_indices": [ 0, 103, 131 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2870.json" } }, { "id": "droid_molmo_sam2_episode_6004", "task": "Put all the orange coins in the in the white cups and all the yellow coins in the transparent cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6004/0000.jpg", "droid_molmo_sam2/images/episode_6004/0001.jpg", "droid_molmo_sam2/images/episode_6004/0778.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put all the orange coins in the in the white cups and all the yellow coins in the transparent cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put all the orange coins in the in the white cups and all the yellow coins in the transparent cup, execute the following phases: 1) Initial approach phase (start at [0.473, 0.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.478, 0.659]). The trajectory involves 779 precise waypoints with total movement distance of 0.773." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6004", "trajectory_length": 779, "key_frame_indices": [ 0, 1, 778 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6004.json" } }, { "id": "droid_molmo_sam2_episode_2168", "task": "Move the blue bag to the right side of the desk", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2168/0000.jpg", "droid_molmo_sam2/images/episode_2168/0162.jpg", "droid_molmo_sam2/images/episode_2168/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue bag to the right side of the desk?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue bag to the right side of the desk, execute the following phases: 1) Initial approach phase (start at [0.262, 0.899]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.576, 0.773]). The trajectory involves 176 precise waypoints with total movement distance of 0.965." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2168", "trajectory_length": 176, "key_frame_indices": [ 0, 162, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2168.json" } }, { "id": "droid_molmo_sam2_episode_30688", "task": "Move the right-sided slipper to the top of the rack", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30688/0000.jpg", "droid_molmo_sam2/images/episode_30688/0201.jpg", "droid_molmo_sam2/images/episode_30688/0416.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the right-sided slipper to the top of the rack?" }, { "from": "gpt", "value": "To complete this repositioning: Move the right-sided slipper to the top of the rack, execute the following phases: 1) Initial approach phase (start at [0.406, 0.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.460, 0.492]). The trajectory involves 417 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30688", "trajectory_length": 417, "key_frame_indices": [ 0, 201, 416 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30688.json" } }, { "id": "droid_molmo_sam2_episode_32492", "task": "Move the shirts and towels to the top of the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32492/0000.jpg", "droid_molmo_sam2/images/episode_32492/0334.jpg", "droid_molmo_sam2/images/episode_32492/0375.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the shirts and towels to the top of the box?" }, { "from": "gpt", "value": "To complete this repositioning: Move the shirts and towels to the top of the box, execute the following phases: 1) Initial approach phase (start at [0.516, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.425]). The trajectory involves 376 precise waypoints with total movement distance of 1.122." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32492", "trajectory_length": 376, "key_frame_indices": [ 0, 334, 375 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32492.json" } }, { "id": "droid_molmo_sam2_episode_3356", "task": "Pour the contents from the pink cup into the white bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3356/0000.jpg", "droid_molmo_sam2/images/episode_3356/0257.jpg", "droid_molmo_sam2/images/episode_3356/0268.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents from the pink cup into the white bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents from the pink cup into the white bowl, execute the following phases: 1) Initial approach phase (start at [0.604, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.475]). The trajectory involves 269 precise waypoints with total movement distance of 0.676." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3356", "trajectory_length": 269, "key_frame_indices": [ 0, 257, 268 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3356.json" } }, { "id": "droid_molmo_sam2_episode_31104", "task": "Move the towel from the left to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31104/0000.jpg", "droid_molmo_sam2/images/episode_31104/0137.jpg", "droid_molmo_sam2/images/episode_31104/0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the towel from the left to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the towel from the left to the right, execute the following phases: 1) Initial approach phase (start at [0.561, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.577]). The trajectory involves 155 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31104", "trajectory_length": 155, "key_frame_indices": [ 0, 137, 154 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31104.json" } }, { "id": "droid_molmo_sam2_episode_1588", "task": "Pick up the pencil and move it slightly to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1588/0000.jpg", "droid_molmo_sam2/images/episode_1588/0079.jpg", "droid_molmo_sam2/images/episode_1588/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the pencil and move it slightly to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Pick up the pencil and move it slightly to the left., execute the following phases: 1) Initial approach phase (start at [0.486, 0.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.221]). The trajectory involves 110 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1588", "trajectory_length": 110, "key_frame_indices": [ 0, 79, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1588.json" } }, { "id": "droid_molmo_sam2_episode_40000", "task": "Pick the marker from the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_40000/0000.jpg", "droid_molmo_sam2/images/episode_40000/0179.jpg", "droid_molmo_sam2/images/episode_40000/0198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the marker from the bowl and put 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, execute the following phases: 1) Initial approach phase (start at [0.528, 0.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.438, 0.553]). The trajectory involves 199 precise waypoints with total movement distance of 0.816." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_40000", "trajectory_length": 199, "key_frame_indices": [ 0, 179, 198 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_40000.json" } }, { "id": "droid_molmo_sam2_episode_35961", "task": "Move the mug to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35961/0000.jpg", "droid_molmo_sam2/images/episode_35961/0190.jpg", "droid_molmo_sam2/images/episode_35961/0247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the mug to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the mug to the right, execute the following phases: 1) Initial approach phase (start at [0.601, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.503]). The trajectory involves 248 precise waypoints with total movement distance of 0.555." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35961", "trajectory_length": 248, "key_frame_indices": [ 0, 190, 247 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35961.json" } }, { "id": "droid_molmo_sam2_episode_35874", "task": "Put the green cube in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35874/0000.jpg", "droid_molmo_sam2/images/episode_35874/0069.jpg", "droid_molmo_sam2/images/episode_35874/0072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green cube in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green cube in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.766, 0.635]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 73 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35874", "trajectory_length": 73, "key_frame_indices": [ 0, 69, 72 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35874.json" } }, { "id": "droid_molmo_sam2_episode_37179", "task": "Pick the eraser and rub off the contents on the whiteboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37179/0000.jpg", "droid_molmo_sam2/images/episode_37179/0192.jpg", "droid_molmo_sam2/images/episode_37179/0509.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the eraser and rub off the contents on the whiteboard?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick the eraser and rub off the contents on the whiteboard, execute the following phases: 1) Initial approach phase (start at [0.256, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.258, 0.795]). The trajectory involves 510 precise waypoints with total movement distance of 2.162." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37179", "trajectory_length": 510, "key_frame_indices": [ 0, 192, 509 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37179.json" } }, { "id": "droid_molmo_sam2_episode_33566", "task": "Unfold the orange cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_33566/0000.jpg", "droid_molmo_sam2/images/episode_33566/0393.jpg", "droid_molmo_sam2/images/episode_33566/0638.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the orange cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the orange cloth, execute the following phases: 1) Initial approach phase (start at [0.147, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.147, 0.859]). The trajectory involves 639 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_33566", "trajectory_length": 639, "key_frame_indices": [ 0, 393, 638 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_33566.json" } }, { "id": "droid_molmo_sam2_episode_4315", "task": "Pick up the bottle from the table and put it in the box", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4315/0000.jpg", "droid_molmo_sam2/images/episode_4315/0094.jpg", "droid_molmo_sam2/images/episode_4315/0168.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 [0.366, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.408]). The trajectory involves 169 precise waypoints with total movement distance of 0.884." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4315", "trajectory_length": 169, "key_frame_indices": [ 0, 94, 168 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4315.json" } }, { "id": "droid_molmo_sam2_episode_38746", "task": "Move the tap nozzle to the right", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38746/0000.jpg", "droid_molmo_sam2/images/episode_38746/0098.jpg", "droid_molmo_sam2/images/episode_38746/0108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap nozzle to the right?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap nozzle to the right, execute the following phases: 1) Initial approach phase (start at [0.610, 0.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.683]). The trajectory involves 109 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38746", "trajectory_length": 109, "key_frame_indices": [ 0, 98, 108 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38746.json" } }, { "id": "droid_molmo_sam2_episode_35432", "task": "Move the white bottle to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35432/0000.jpg", "droid_molmo_sam2/images/episode_35432/0116.jpg", "droid_molmo_sam2/images/episode_35432/0150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the white bottle to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the white bottle to the left, execute the following phases: 1) Initial approach phase (start at [0.709, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.563, 0.649]). The trajectory involves 151 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35432", "trajectory_length": 151, "key_frame_indices": [ 0, 116, 150 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35432.json" } }, { "id": "droid_molmo_sam2_episode_7479", "task": "Press the escape key on the keyboard", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7479/0000.jpg", "droid_molmo_sam2/images/episode_7479/0128.jpg", "droid_molmo_sam2/images/episode_7479/0142.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 [0.677, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.794]). The trajectory involves 143 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7479", "trajectory_length": 143, "key_frame_indices": [ 0, 128, 142 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7479.json" } }, { "id": "droid_molmo_sam2_episode_34721", "task": "Pick the object from the table and put it in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34721/0000.jpg", "droid_molmo_sam2/images/episode_34721/0207.jpg", "droid_molmo_sam2/images/episode_34721/0243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick the object from the table and put it in the cup?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick the object from the table and put it in the cup, execute the following phases: 1) Initial approach phase (start at [0.546, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 244 precise waypoints with total movement distance of 0.993." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34721", "trajectory_length": 244, "key_frame_indices": [ 0, 207, 243 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34721.json" } }, { "id": "droid_molmo_sam2_episode_31903", "task": "Put the lid on the pot", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31903/0000.jpg", "droid_molmo_sam2/images/episode_31903/0126.jpg", "droid_molmo_sam2/images/episode_31903/0222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the lid on the pot?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the lid on the pot, execute the following phases: 1) Initial approach phase (start at [0.325, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.706]). The trajectory involves 223 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31903", "trajectory_length": 223, "key_frame_indices": [ 0, 126, 222 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31903.json" } }, { "id": "droid_molmo_sam2_episode_874", "task": "Pick up the black object on the chair and put it inside the bag", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_874/0000.jpg", "droid_molmo_sam2/images/episode_874/0139.jpg", "droid_molmo_sam2/images/episode_874/0213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the black object on the chair and put it inside the bag?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the black object on the chair and put it inside the bag, execute the following phases: 1) Initial approach phase (start at [0.587, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.262]). The trajectory involves 214 precise waypoints with total movement distance of 1.303." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_874", "trajectory_length": 214, "key_frame_indices": [ 0, 139, 213 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_874.json" } }, { "id": "droid_molmo_sam2_episode_2629", "task": "Pick up the marker and put it in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2629/0000.jpg", "droid_molmo_sam2/images/episode_2629/0128.jpg", "droid_molmo_sam2/images/episode_2629/0154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up the marker and put it in the bowl?" }, { "from": "gpt", "value": "To complete this pick-and-place manipulation: Pick up the marker and put it in the bowl, execute the following phases: 1) Initial approach phase (start at [0.554, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 155 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2629", "trajectory_length": 155, "key_frame_indices": [ 0, 128, 154 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2629.json" } }, { "id": "droid_molmo_sam2_episode_6420", "task": "Move the cup slightly backward to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6420/0000.jpg", "droid_molmo_sam2/images/episode_6420/0097.jpg", "droid_molmo_sam2/images/episode_6420/0125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup slightly backward to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup slightly backward to the left, execute the following phases: 1) Initial approach phase (start at [0.485, 0.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.503]). The trajectory involves 126 precise waypoints with total movement distance of 0.327." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6420", "trajectory_length": 126, "key_frame_indices": [ 0, 97, 125 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6420.json" } }, { "id": "droid_molmo_sam2_episode_35482", "task": "Move the blue fabric from the brown couch to the black chair", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35482/0000.jpg", "droid_molmo_sam2/images/episode_35482/0171.jpg", "droid_molmo_sam2/images/episode_35482/0176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the blue fabric from the brown couch to the black chair?" }, { "from": "gpt", "value": "To complete this repositioning: Move the blue fabric from the brown couch to the black chair, execute the following phases: 1) Initial approach phase (start at [0.911, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.694, 0.682]). The trajectory involves 177 precise waypoints with total movement distance of 1.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35482", "trajectory_length": 177, "key_frame_indices": [ 0, 171, 176 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35482.json" } }, { "id": "droid_molmo_sam2_episode_1847", "task": "Put the cup on the white plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1847/0000.jpg", "droid_molmo_sam2/images/episode_1847/0181.jpg", "droid_molmo_sam2/images/episode_1847/0416.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup on the white plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup on the white plate, execute the following phases: 1) Initial approach phase (start at [0.673, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 417 precise waypoints with total movement distance of 3.524." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1847", "trajectory_length": 417, "key_frame_indices": [ 0, 181, 416 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1847.json" } }, { "id": "droid_molmo_sam2_episode_3302", "task": "Put the green block in the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3302/0000.jpg", "droid_molmo_sam2/images/episode_3302/0087.jpg", "droid_molmo_sam2/images/episode_3302/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the green block in the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the green block in the black bowl, execute the following phases: 1) Initial approach phase (start at [0.463, 0.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 176 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3302", "trajectory_length": 176, "key_frame_indices": [ 0, 87, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3302.json" } }, { "id": "droid_molmo_sam2_episode_6001", "task": "Put the towels in the basket and the tape and marker in the mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6001/0000.jpg", "droid_molmo_sam2/images/episode_6001/0551.jpg", "droid_molmo_sam2/images/episode_6001/1026.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the towels in the basket and the tape and marker in the mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the towels in the basket and the tape and marker in the mug, execute the following phases: 1) Initial approach phase (start at [0.446, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.690]). The trajectory involves 1027 precise waypoints with total movement distance of 2.835." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6001", "trajectory_length": 1027, "key_frame_indices": [ 0, 551, 1026 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6001.json" } }, { "id": "droid_molmo_sam2_episode_31921", "task": "Put the cup in the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31921/0000.jpg", "droid_molmo_sam2/images/episode_31921/0102.jpg", "droid_molmo_sam2/images/episode_31921/0137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the cup in the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the cup in the bowl, execute the following phases: 1) Initial approach phase (start at [0.385, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.530]). The trajectory involves 138 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31921", "trajectory_length": 138, "key_frame_indices": [ 0, 102, 137 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31921.json" } }, { "id": "droid_molmo_sam2_episode_4067", "task": "Place the marker on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4067/0000.jpg", "droid_molmo_sam2/images/episode_4067/0139.jpg", "droid_molmo_sam2/images/episode_4067/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the marker on the table?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the marker on the table, execute the following phases: 1) Initial approach phase (start at [0.696, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.486]). The trajectory involves 147 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4067", "trajectory_length": 147, "key_frame_indices": [ 0, 139, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4067.json" } }, { "id": "droid_molmo_sam2_episode_30752", "task": "Move the tap to the left", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30752/0000.jpg", "droid_molmo_sam2/images/episode_30752/0147.jpg", "droid_molmo_sam2/images/episode_30752/0220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the tap to the left?" }, { "from": "gpt", "value": "To complete this repositioning: Move the tap to the left, execute the following phases: 1) Initial approach phase (start at [0.515, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.558]). The trajectory involves 221 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30752", "trajectory_length": 221, "key_frame_indices": [ 0, 147, 220 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30752.json" } }, { "id": "droid_molmo_sam2_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_molmo_sam2/images/episode_6789/0000.jpg", "droid_molmo_sam2/images/episode_6789/0057.jpg", "droid_molmo_sam2/images/episode_6789/0179.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 [0.432, 0.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.471, 0.330]). The trajectory involves 180 precise waypoints with total movement distance of 0.486." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6789", "trajectory_length": 180, "key_frame_indices": [ 0, 57, 179 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6789.json" } }, { "id": "droid_molmo_sam2_episode_30141", "task": "Remove the cloth from the chair and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30141/0000.jpg", "droid_molmo_sam2/images/episode_30141/0084.jpg", "droid_molmo_sam2/images/episode_30141/0118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the cloth from the chair and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the cloth from the chair and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.629, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.918]). The trajectory involves 119 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30141", "trajectory_length": 119, "key_frame_indices": [ 0, 84, 118 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30141.json" } }, { "id": "droid_molmo_sam2_episode_6021", "task": "Put the paper towel roll in the clear container then move the container to the left.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6021/0000.jpg", "droid_molmo_sam2/images/episode_6021/0168.jpg", "droid_molmo_sam2/images/episode_6021/0303.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the paper towel roll in the clear container then move the container to the left.?" }, { "from": "gpt", "value": "To complete this repositioning: Put the paper towel roll in the clear container then move the container to the left., execute the following phases: 1) Initial approach phase (start at [0.384, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.773]). The trajectory involves 304 precise waypoints with total movement distance of 1.736." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6021", "trajectory_length": 304, "key_frame_indices": [ 0, 168, 303 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6021.json" } }, { "id": "droid_molmo_sam2_episode_3141", "task": "Put the pen in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3141/0000.jpg", "droid_molmo_sam2/images/episode_3141/0113.jpg", "droid_molmo_sam2/images/episode_3141/0158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the pen in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the pen in the cup, execute the following phases: 1) Initial approach phase (start at [0.532, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.582, 0.567]). The trajectory involves 159 precise waypoints with total movement distance of 1.041." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3141", "trajectory_length": 159, "key_frame_indices": [ 0, 113, 158 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3141.json" } }, { "id": "droid_molmo_sam2_episode_7453", "task": "Place the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7453/0000.jpg", "droid_molmo_sam2/images/episode_7453/0055.jpg", "droid_molmo_sam2/images/episode_7453/0098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.492, 0.670]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.541]). The trajectory involves 99 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7453", "trajectory_length": 99, "key_frame_indices": [ 0, 55, 98 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7453.json" } }, { "id": "droid_molmo_sam2_episode_3468", "task": "Pour the contents in the cup into the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_3468/0000.jpg", "droid_molmo_sam2/images/episode_3468/0028.jpg", "droid_molmo_sam2/images/episode_3468/0159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pour the contents in the cup into the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pour the contents in the cup into the bowl, execute the following phases: 1) Initial approach phase (start at [0.590, 0.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.660, 0.646]). The trajectory involves 160 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_3468", "trajectory_length": 160, "key_frame_indices": [ 0, 28, 159 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_3468.json" } }, { "id": "droid_molmo_sam2_episode_4411", "task": "Pick up all the objects surrounding the white plate and arrange them on the plate", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_4411/0000.jpg", "droid_molmo_sam2/images/episode_4411/0962.jpg", "droid_molmo_sam2/images/episode_4411/0985.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Pick up all the objects surrounding the white plate and arrange them on the plate?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Pick up all the objects surrounding the white plate and arrange them on the plate, execute the following phases: 1) Initial approach phase (start at [0.504, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.475, 0.416]). The trajectory involves 986 precise waypoints with total movement distance of 4.825." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_4411", "trajectory_length": 986, "key_frame_indices": [ 0, 962, 985 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_4411.json" } }, { "id": "droid_molmo_sam2_episode_35093", "task": "Place the cup inside the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35093/0000.jpg", "droid_molmo_sam2/images/episode_35093/0056.jpg", "droid_molmo_sam2/images/episode_35093/0148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the cup inside the bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the cup inside the bowl, execute the following phases: 1) Initial approach phase (start at [0.369, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.544]). The trajectory involves 149 precise waypoints with total movement distance of 0.594." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35093", "trajectory_length": 149, "key_frame_indices": [ 0, 56, 148 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35093.json" } }, { "id": "droid_molmo_sam2_episode_705", "task": "Move the green lid backwards", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_705/0000.jpg", "droid_molmo_sam2/images/episode_705/0271.jpg", "droid_molmo_sam2/images/episode_705/0272.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the green lid backwards?" }, { "from": "gpt", "value": "To complete this repositioning: Move the green lid backwards, execute the following phases: 1) Initial approach phase (start at [0.643, 0.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 273 precise waypoints with total movement distance of 1.572." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_705", "trajectory_length": 273, "key_frame_indices": [ 0, 271, 272 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_705.json" } }, { "id": "droid_molmo_sam2_episode_7323", "task": "Remove the marker in the bowl and put it on the table", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_7323/0000.jpg", "droid_molmo_sam2/images/episode_7323/0152.jpg", "droid_molmo_sam2/images/episode_7323/0175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the marker in the bowl and put it on the table?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the marker in the bowl and put it on the table, execute the following phases: 1) Initial approach phase (start at [0.527, 0.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.516]). The trajectory involves 176 precise waypoints with total movement distance of 0.706." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_7323", "trajectory_length": 176, "key_frame_indices": [ 0, 152, 175 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_7323.json" } }, { "id": "droid_molmo_sam2_episode_2818", "task": "Take the pillows and move them to the right of the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2818/0000.jpg", "droid_molmo_sam2/images/episode_2818/0455.jpg", "droid_molmo_sam2/images/episode_2818/0677.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the pillows and move them to the right of the couch?" }, { "from": "gpt", "value": "To complete this repositioning: Take the pillows and move them to the right of the couch, execute the following phases: 1) Initial approach phase (start at [0.509, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.635]). The trajectory involves 678 precise waypoints with total movement distance of 1.104." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2818", "trajectory_length": 678, "key_frame_indices": [ 0, 455, 677 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2818.json" } }, { "id": "droid_molmo_sam2_episode_32549", "task": "Take the straw out of the drink can and place it on the table mat", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32549/0000.jpg", "droid_molmo_sam2/images/episode_32549/0212.jpg", "droid_molmo_sam2/images/episode_32549/0232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the straw out of the drink can and place it on the table mat?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the straw out of the drink can and place it on the table mat, execute the following phases: 1) Initial approach phase (start at [0.470, 0.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.469, 0.380]). The trajectory involves 233 precise waypoints with total movement distance of 3.169." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32549", "trajectory_length": 233, "key_frame_indices": [ 0, 212, 232 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32549.json" } }, { "id": "droid_molmo_sam2_episode_6441", "task": "Open the topmost drawer", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6441/0000.jpg", "droid_molmo_sam2/images/episode_6441/0281.jpg", "droid_molmo_sam2/images/episode_6441/0309.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer, execute the following phases: 1) Initial approach phase (start at [0.522, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.864]). The trajectory involves 310 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6441", "trajectory_length": 310, "key_frame_indices": [ 0, 281, 309 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6441.json" } }, { "id": "droid_molmo_sam2_episode_1906", "task": "Open the left cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1906/0000.jpg", "droid_molmo_sam2/images/episode_1906/0131.jpg", "droid_molmo_sam2/images/episode_1906/0193.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 [0.512, 0.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.278]). The trajectory involves 194 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1906", "trajectory_length": 194, "key_frame_indices": [ 0, 131, 193 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1906.json" } }, { "id": "droid_molmo_sam2_episode_35222", "task": "Unfold the cloth on the counter", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_35222/0000.jpg", "droid_molmo_sam2/images/episode_35222/0185.jpg", "droid_molmo_sam2/images/episode_35222/0790.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Unfold the cloth on the counter?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Unfold the cloth on the counter, execute the following phases: 1) Initial approach phase (start at [0.584, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.587, 0.552]). The trajectory involves 791 precise waypoints with total movement distance of 1.661." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_35222", "trajectory_length": 791, "key_frame_indices": [ 0, 185, 790 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_35222.json" } }, { "id": "droid_molmo_sam2_episode_1304", "task": "Spread the jeans on the couch", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_1304/0000.jpg", "droid_molmo_sam2/images/episode_1304/0303.jpg", "droid_molmo_sam2/images/episode_1304/0711.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Spread the jeans on the couch?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Spread the jeans on the couch, execute the following phases: 1) Initial approach phase (start at [0.517, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.559]). The trajectory involves 712 precise waypoints with total movement distance of 2.075." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_1304", "trajectory_length": 712, "key_frame_indices": [ 0, 303, 711 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_1304.json" } }, { "id": "droid_molmo_sam2_episode_2563", "task": "Take the marker out of the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2563/0000.jpg", "droid_molmo_sam2/images/episode_2563/0130.jpg", "droid_molmo_sam2/images/episode_2563/0157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the marker out of the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the marker out of the cup, execute the following phases: 1) Initial approach phase (start at [0.499, 0.883]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 158 precise waypoints with total movement distance of 1.032." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2563", "trajectory_length": 158, "key_frame_indices": [ 0, 130, 157 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2563.json" } }, { "id": "droid_molmo_sam2_episode_31619", "task": "Take the red marker out of the grey bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31619/0000.jpg", "droid_molmo_sam2/images/episode_31619/0143.jpg", "droid_molmo_sam2/images/episode_31619/0161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Take the red marker out of the grey bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Take the red marker out of the grey bowl, execute the following phases: 1) Initial approach phase (start at [0.518, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.640]). The trajectory involves 162 precise waypoints with total movement distance of 1.313." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31619", "trajectory_length": 162, "key_frame_indices": [ 0, 143, 161 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31619.json" } }, { "id": "droid_molmo_sam2_episode_34817", "task": "Wipe the counter with the cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_34817/0000.jpg", "droid_molmo_sam2/images/episode_34817/0266.jpg", "droid_molmo_sam2/images/episode_34817/0353.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the counter with the cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the counter with the cloth, execute the following phases: 1) Initial approach phase (start at [0.539, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.642]). The trajectory involves 354 precise waypoints with total movement distance of 1.283." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_34817", "trajectory_length": 354, "key_frame_indices": [ 0, 266, 353 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_34817.json" } }, { "id": "droid_molmo_sam2_episode_6972", "task": "Put the yellow block in the cup", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_6972/0000.jpg", "droid_molmo_sam2/images/episode_6972/0102.jpg", "droid_molmo_sam2/images/episode_6972/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the yellow block in the cup?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the yellow block in the cup, execute the following phases: 1) Initial approach phase (start at [0.508, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.500]). The trajectory involves 112 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_6972", "trajectory_length": 112, "key_frame_indices": [ 0, 102, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_6972.json" } }, { "id": "droid_molmo_sam2_episode_2614", "task": "Put the black marker inside the red mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2614/0000.jpg", "droid_molmo_sam2/images/episode_2614/0069.jpg", "droid_molmo_sam2/images/episode_2614/0109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the black marker inside the red mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the black marker inside the red mug, execute the following phases: 1) Initial approach phase (start at [0.549, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.365]). The trajectory involves 110 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2614", "trajectory_length": 110, "key_frame_indices": [ 0, 69, 109 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2614.json" } }, { "id": "droid_molmo_sam2_episode_39964", "task": "Place the orange cup inside the black bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_39964/0000.jpg", "droid_molmo_sam2/images/episode_39964/0049.jpg", "droid_molmo_sam2/images/episode_39964/0088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Place the orange cup inside the black bowl?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Place the orange cup inside the black bowl, execute the following phases: 1) Initial approach phase (start at [0.485, 0.690]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.543]). The trajectory involves 89 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_39964", "trajectory_length": 89, "key_frame_indices": [ 0, 49, 88 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_39964.json" } }, { "id": "droid_molmo_sam2_episode_31994", "task": "Move the cup forward", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_31994/0000.jpg", "droid_molmo_sam2/images/episode_31994/0163.jpg", "droid_molmo_sam2/images/episode_31994/0242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the cup forward?" }, { "from": "gpt", "value": "To complete this repositioning: Move the cup forward, execute the following phases: 1) Initial approach phase (start at [0.575, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.411]). The trajectory involves 243 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_31994", "trajectory_length": 243, "key_frame_indices": [ 0, 163, 242 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_31994.json" } }, { "id": "droid_molmo_sam2_episode_2517", "task": "Move the banana plush toy", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2517/0000.jpg", "droid_molmo_sam2/images/episode_2517/0069.jpg", "droid_molmo_sam2/images/episode_2517/0111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Move the banana plush toy?" }, { "from": "gpt", "value": "To complete this repositioning: Move the banana plush toy, execute the following phases: 1) Initial approach phase (start at [0.514, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.566]). The trajectory involves 112 precise waypoints with total movement distance of 0.479." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2517", "trajectory_length": 112, "key_frame_indices": [ 0, 69, 111 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2517.json" } }, { "id": "droid_molmo_sam2_episode_32737", "task": "Wipe the surface using the orange cloth", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_32737/0000.jpg", "droid_molmo_sam2/images/episode_32737/0212.jpg", "droid_molmo_sam2/images/episode_32737/0354.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Wipe the surface using the orange cloth?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Wipe the surface using the orange cloth, execute the following phases: 1) Initial approach phase (start at [0.476, 0.693]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.438, 0.633]). The trajectory involves 355 precise waypoints with total movement distance of 1.263." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_32737", "trajectory_length": 355, "key_frame_indices": [ 0, 212, 354 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_32737.json" } }, { "id": "droid_molmo_sam2_episode_2261", "task": "Put the white spoon in the white mug", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2261/0000.jpg", "droid_molmo_sam2/images/episode_2261/0310.jpg", "droid_molmo_sam2/images/episode_2261/0326.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the white spoon in the white mug?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the white spoon in the white mug, execute the following phases: 1) Initial approach phase (start at [0.826, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.793, 0.159]). The trajectory involves 327 precise waypoints with total movement distance of 1.510." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2261", "trajectory_length": 327, "key_frame_indices": [ 0, 310, 326 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2261.json" } }, { "id": "droid_molmo_sam2_episode_30233", "task": "Remove the glue stick from the bowl", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_30233/0000.jpg", "droid_molmo_sam2/images/episode_30233/0075.jpg", "droid_molmo_sam2/images/episode_30233/0099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Remove the glue stick from the bowl?" }, { "from": "gpt", "value": "To complete this repositioning: Remove the glue stick from the bowl, execute the following phases: 1) Initial approach phase (start at [0.583, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.664, 0.701]). The trajectory involves 100 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_30233", "trajectory_length": 100, "key_frame_indices": [ 0, 75, 99 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_30233.json" } }, { "id": "droid_molmo_sam2_episode_2223", "task": "Fold the cloth in half", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2223/0000.jpg", "droid_molmo_sam2/images/episode_2223/0272.jpg", "droid_molmo_sam2/images/episode_2223/0304.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Fold the cloth in half?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Fold the cloth in half, execute the following phases: 1) Initial approach phase (start at [0.508, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.707]). The trajectory involves 305 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2223", "trajectory_length": 305, "key_frame_indices": [ 0, 272, 304 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2223.json" } }, { "id": "droid_molmo_sam2_episode_2444", "task": "Put the can in the sink", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_2444/0000.jpg", "droid_molmo_sam2/images/episode_2444/0103.jpg", "droid_molmo_sam2/images/episode_2444/0146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Put the can in the sink?" }, { "from": "gpt", "value": "To complete this droid_molmo_sam2 manipulation: Put the can in the sink, execute the following phases: 1) Initial approach phase (start at [0.349, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.872]). The trajectory involves 147 precise waypoints with total movement distance of 0.485." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_2444", "trajectory_length": 147, "key_frame_indices": [ 0, 103, 146 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_2444.json" } }, { "id": "droid_molmo_sam2_episode_38823", "task": "Close the faucet", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_38823/0000.jpg", "droid_molmo_sam2/images/episode_38823/0117.jpg", "droid_molmo_sam2/images/episode_38823/0205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the faucet?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the faucet, execute the following phases: 1) Initial approach phase (start at [0.559, 0.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.323]). The trajectory involves 206 precise waypoints with total movement distance of 0.543." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_38823", "trajectory_length": 206, "key_frame_indices": [ 0, 117, 205 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_38823.json" } }, { "id": "droid_molmo_sam2_episode_36500", "task": "Open the topmost drawer.", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_36500/0000.jpg", "droid_molmo_sam2/images/episode_36500/0213.jpg", "droid_molmo_sam2/images/episode_36500/0361.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Open the topmost drawer.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Open the topmost drawer., execute the following phases: 1) Initial approach phase (start at [0.516, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.830]). The trajectory involves 362 precise waypoints with total movement distance of 1.972." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_36500", "trajectory_length": 362, "key_frame_indices": [ 0, 213, 361 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_36500.json" } }, { "id": "droid_molmo_sam2_episode_37258", "task": "Close the bottom cabinet door", "selected_step": 1, "image": [ "droid_molmo_sam2/images/episode_37258/0000.jpg", "droid_molmo_sam2/images/episode_37258/0094.jpg", "droid_molmo_sam2/images/episode_37258/0140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: Close the bottom cabinet door?" }, { "from": "gpt", "value": "To complete this door/drawer operation: Close the bottom cabinet door, execute the following phases: 1) Initial approach phase (start at [0.836, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.783, 0.693]). The trajectory involves 141 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-droid_molmo_sam2", "task_name": "droid_molmo_sam2", "episode_id": "episode_37258", "trajectory_length": 141, "key_frame_indices": [ 0, 94, 140 ], "coordinate_system": "normalized", "original_file": "droid_molmo_sam2/droid_molmo_sam2/episode_37258.json" } } ]