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15.5 kB
| { | |
| "schema_version": 1, | |
| "repo_id": "wzlllong/value-model-benchmark-training-data", | |
| "release_format": "LeRobot Dataset v3.0", | |
| "documentation": { | |
| "en": "README.md", | |
| "zh": "README_zh.md" | |
| }, | |
| "domains": [ | |
| { | |
| "domain": "simulation", | |
| "name_en": "Simulation", | |
| "name_zh": "仿真世界", | |
| "subsets": [ | |
| "simulation-full-shot-data", | |
| "simulation-one-shot-data" | |
| ], | |
| "platform": "ARX" | |
| }, | |
| { | |
| "domain": "real-world", | |
| "name_en": "Real-World", | |
| "name_zh": "真实世界", | |
| "subsets": [ | |
| "real-world-full-shot-data", | |
| "real-world-one-shot-data" | |
| ], | |
| "platform": "AgiBot Genie02" | |
| } | |
| ], | |
| "available_subsets": [ | |
| { | |
| "subset_id": "simulation-full-shot-data", | |
| "domain": "simulation", | |
| "shot_regime": "full-shot", | |
| "availability": "available", | |
| "tasks": 15, | |
| "episodes_per_task": 100, | |
| "episodes": 1500, | |
| "path_in_repo": "data/simulation/full-shot", | |
| "name_en": "Simulation Full-Shot Training Data", | |
| "name_zh": "仿真 Full-Shot 训练集", | |
| "format": "LeRobot v3.0", | |
| "robot_type": "unified_robot", | |
| "frames": 789612, | |
| "fps": 25, | |
| "camera_streams_per_episode": 3, | |
| "state_dimensions": 14, | |
| "action_dimensions": 14, | |
| "splits": { | |
| "train": "0:1500" | |
| }, | |
| "reference_repo": "RoboDojo-Benchmark/RoboDojo", | |
| "source_episodes": { | |
| "RoboDojo": 1393, | |
| "supplemental": 107 | |
| }, | |
| "video_codecs": [ | |
| "av1", | |
| "h264" | |
| ], | |
| "videos": 4500, | |
| "platform": "ARX", | |
| "source_description_en": "Based on open-source RoboDojo data reviewed by our team, with selected demonstrations recorded again.", | |
| "source_description_zh": "基于 RoboDojo 开源数据,经团队审核后,对部分示例重新采集。", | |
| "display_task_names": [ | |
| "Arrange Largest Number", | |
| "Fill Pen Holder", | |
| "Fold Clothes", | |
| "Hang Mugs", | |
| "Insert Tubes", | |
| "Make Toast", | |
| "Organize Table", | |
| "Pack Objects Into Box", | |
| "Play Stacking Toy", | |
| "Press By Number", | |
| "Put Bottles Into Dustbin", | |
| "Stack Blocks", | |
| "Store Laptop And Headphones", | |
| "Swap Blocks", | |
| "Sweep Blocks" | |
| ], | |
| "source_task_keys": [ | |
| "arrange_largest_number", | |
| "fill_pen_holder", | |
| "fold_clothes", | |
| "hang_mugs", | |
| "insert_tubes", | |
| "make_toast", | |
| "organize_table", | |
| "pack_objects_into_box", | |
| "play_stacking_toy", | |
| "press_by_number", | |
| "put_bottles_into_dustbin", | |
| "stack_blocks", | |
| "store_laptop_and_headphones", | |
| "swap_blocks", | |
| "sweep_blocks" | |
| ], | |
| "display_task_names_zh": [ | |
| "排列数字组成最大数", | |
| "装填笔筒", | |
| "折叠衣物", | |
| "悬挂马克杯", | |
| "插入管子", | |
| "制作吐司", | |
| "整理桌面", | |
| "将物品装入盒中", | |
| "操作堆叠玩具", | |
| "依照数字按按钮", | |
| "将瓶子放入垃圾桶", | |
| "堆叠积木", | |
| "收纳笔记本电脑与耳机", | |
| "交换积木位置", | |
| "清扫积木" | |
| ] | |
| }, | |
| { | |
| "subset_id": "simulation-one-shot-data", | |
| "domain": "simulation", | |
| "shot_regime": "one-shot", | |
| "availability": "available", | |
| "tasks": 15, | |
| "episodes_per_task": 1, | |
| "episodes": 15, | |
| "path_in_repo": "data/simulation/one-shot", | |
| "name_en": "Simulation One-Shot Training Data", | |
| "name_zh": "仿真 One-Shot 训练集", | |
| "format": "LeRobot v3.0", | |
| "robot_type": "unified_robot", | |
| "frames": 8080, | |
| "fps": 25, | |
| "camera_streams_per_episode": 3, | |
| "state_dimensions": 14, | |
| "action_dimensions": 14, | |
| "splits": { | |
| "train": "0:15" | |
| }, | |
| "video_codecs": [ | |
| "av1" | |
| ], | |
| "episode_mapping": "data/simulation/one-shot/provenance/episode_mapping.json", | |
| "videos": 45, | |
| "platform": "ARX", | |
| "source_description_en": "Based on open-source RoboDojo data reviewed by our team, with selected demonstrations recorded again.", | |
| "source_description_zh": "基于 RoboDojo 开源数据,经团队审核后,对部分示例重新采集。", | |
| "display_task_names": [ | |
| "Arrange Largest Number", | |
| "Fill Pen Holder", | |
| "Fold Clothes", | |
| "Hang Mugs", | |
| "Insert Tubes", | |
| "Make Toast", | |
| "Organize Table", | |
| "Pack Objects Into Box", | |
| "Play Stacking Toy", | |
| "Press By Number", | |
| "Put Bottles Into Dustbin", | |
| "Stack Blocks", | |
| "Store Laptop And Headphones", | |
| "Swap Blocks", | |
| "Sweep Blocks" | |
| ], | |
| "source_task_keys": [ | |
| "arrange_largest_number", | |
| "fill_pen_holder", | |
| "fold_clothes", | |
| "hang_mugs", | |
| "insert_tubes", | |
| "make_toast", | |
| "organize_table", | |
| "pack_objects_into_box", | |
| "play_stacking_toy", | |
| "press_by_number", | |
| "put_bottles_into_dustbin", | |
| "stack_blocks", | |
| "store_laptop_and_headphones", | |
| "swap_blocks", | |
| "sweep_blocks" | |
| ], | |
| "display_task_names_zh": [ | |
| "排列数字组成最大数", | |
| "装填笔筒", | |
| "折叠衣物", | |
| "悬挂马克杯", | |
| "插入管子", | |
| "制作吐司", | |
| "整理桌面", | |
| "将物品装入盒中", | |
| "操作堆叠玩具", | |
| "依照数字按按钮", | |
| "将瓶子放入垃圾桶", | |
| "堆叠积木", | |
| "收纳笔记本电脑与耳机", | |
| "交换积木位置", | |
| "清扫积木" | |
| ], | |
| "annotations": { | |
| "subtasks": { | |
| "path_in_repo": "data/simulation/one-shot/annotations/subtasks", | |
| "revision": "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145", | |
| "status": "user_confirmed_release", | |
| "target": "active_semantic_subtask", | |
| "scope": "training_demonstrations", | |
| "paper": "https://arxiv.org/abs/2610.26663", | |
| "paper_section": "C.2", | |
| "tasks": 15, | |
| "episodes": 15, | |
| "segments": 58, | |
| "frames": 8080, | |
| "fps": 25, | |
| "join_keys": [ | |
| "episode_index", | |
| "frame_index" | |
| ], | |
| "global_index_matches": "index", | |
| "frame_labels": "data/simulation/one-shot/annotations/subtasks/frame_labels.parquet", | |
| "taxonomy": "data/simulation/one-shot/annotations/subtasks/taxonomy.json", | |
| "size_bytes": 146350, | |
| "payload_size_bytes": 146350, | |
| "documentation": "data/simulation/one-shot/annotations/subtasks/README.md", | |
| "interval_convention": "[start_frame,end_frame)", | |
| "boundary_mask": "boundary_uncertain", | |
| "payload_files": 24, | |
| "dataset_labeler": { | |
| "path_in_repo": "data/simulation/one-shot/annotations/subtasks/dataset_labeler", | |
| "format": "dataset_labeler_sia_cspc", | |
| "task_files": [ | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json", | |
| "data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json" | |
| ], | |
| "exceptional_intervals": "data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json", | |
| "transfer_export_records": 15, | |
| "transfer_export_boundary_points": 73, | |
| "record_fields": [ | |
| "episode", | |
| "marks", | |
| "duration", | |
| "task", | |
| "metric", | |
| "group", | |
| "episode_name", | |
| "gap" | |
| ], | |
| "video_key": "dataset-root-relative head-camera video path", | |
| "episode_field": "same dataset-root-relative video path as the object key", | |
| "marks_fields": [ | |
| "type", | |
| "frame", | |
| "time" | |
| ], | |
| "mark_type": "s", | |
| "boundary_convention": "N+1 points for N subtasks; consecutive marks define [start_frame,end_frame); terminal frame equals episode length", | |
| "subtask_order": "S1…Sn", | |
| "time_unit": "seconds", | |
| "metric": "SIA+CSPC", | |
| "group": "one-shot", | |
| "gap": 20 | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "subset_id": "real-world-full-shot-data", | |
| "domain": "real-world", | |
| "shot_regime": "full-shot", | |
| "name_en": "Real-World Full-Shot Training Data", | |
| "name_zh": "真机 Full-Shot 训练集", | |
| "availability": "available", | |
| "path_in_repo": "data/real-world/full-shot", | |
| "format": "LeRobot v3.0", | |
| "robot_type": "G2A", | |
| "tasks": 20, | |
| "episodes": 2000, | |
| "episodes_per_task": 100, | |
| "frames": 1534321, | |
| "fps": 30, | |
| "camera_streams_per_episode": 3, | |
| "state_dimensions": 290, | |
| "action_dimensions": 52, | |
| "splits": { | |
| "train": "0:2000" | |
| }, | |
| "action_representations": [ | |
| "joint-targets", | |
| "end-effector-target-poses" | |
| ], | |
| "end_effector_target_source": "forward kinematics from joint actions", | |
| "videos": 6000, | |
| "platform": "AgiBot Genie02", | |
| "display_task_names": [ | |
| "Transfer Blocks Using Plate", | |
| "Enter Keypad Number Sequence", | |
| "Set the Table", | |
| "Arrange Seasoning Jars", | |
| "Load Plastic Plates Into Rack", | |
| "Press Button Five Times", | |
| "Place Pot On Induction Cooker", | |
| "Organize Desktop Workstation", | |
| "Organize Books And Pen", | |
| "Arrange Family Tea Set", | |
| "Operate Drawers In Sequence", | |
| "Sort Blocks in Order", | |
| "Fill And Place Pen Holder", | |
| "Organize Cosmetics Storage Box", | |
| "Strike Drum Five Times", | |
| "Apply Dish Soap Repeatedly", | |
| "Season Meat Skewers Repeatedly", | |
| "Pack Items For Shipping", | |
| "Arrange Flowers and Reed Diffuser", | |
| "Prepare Breakfast" | |
| ], | |
| "display_task_names_zh": [ | |
| "用盘子转移积木", | |
| "输入键盘数字序列", | |
| "摆放餐具", | |
| "摆放调料罐", | |
| "将塑料盘装入盘架", | |
| "按按钮五次", | |
| "将小锅放上电磁炉", | |
| "整理桌面工作区", | |
| "整理书本和笔", | |
| "摆放家庭茶具", | |
| "按顺序打开与关闭抽屉", | |
| "按顺序摆放彩色积木", | |
| "装填并摆放笔筒", | |
| "整理化妆品收纳盒", | |
| "敲鼓五次", | |
| "反复按压洗洁精瓶", | |
| "反复给肉串撒料", | |
| "打包待寄送物品", | |
| "插花与摆放藤条香薰", | |
| "准备早餐" | |
| ], | |
| "size_bytes": 23125415964, | |
| "duration_seconds": 51144.03333333333 | |
| }, | |
| { | |
| "subset_id": "real-world-one-shot-data", | |
| "domain": "real-world", | |
| "shot_regime": "one-shot", | |
| "availability": "available", | |
| "tasks": 20, | |
| "episodes_per_task": 1, | |
| "episodes": 20, | |
| "path_in_repo": "data/real-world/one-shot", | |
| "name_en": "Real-World One-Shot Training Data", | |
| "name_zh": "真机 One-Shot 训练集", | |
| "format": "LeRobot v3.0", | |
| "robot_type": "G2A", | |
| "frames": 16362, | |
| "fps": 30, | |
| "camera_streams_per_episode": 3, | |
| "state_dimensions": 290, | |
| "action_dimensions": 52, | |
| "splits": { | |
| "train": "0:20" | |
| }, | |
| "video_codecs": [ | |
| "hevc" | |
| ], | |
| "episode_mapping": "data/real-world/one-shot/provenance/episode_mapping.json", | |
| "source_episode_selection": "minimum original episode_id among the 100 source episodes for 19 tasks; tea uses the minimum original episode_id from the 27-episode tea refresh batch", | |
| "videos": 60, | |
| "platform": "AgiBot Genie02", | |
| "size_bytes": 215642018, | |
| "duration_seconds": 545.4, | |
| "display_task_names": [ | |
| "Transfer Blocks Using Plate", | |
| "Enter Keypad Number Sequence", | |
| "Set the Table", | |
| "Arrange Seasoning Jars", | |
| "Load Plastic Plates Into Rack", | |
| "Press Button Five Times", | |
| "Place Pot On Induction Cooker", | |
| "Organize Desktop Workstation", | |
| "Organize Books And Pen", | |
| "Arrange Family Tea Set", | |
| "Operate Drawers In Sequence", | |
| "Sort Blocks in Order", | |
| "Fill And Place Pen Holder", | |
| "Organize Cosmetics Storage Box", | |
| "Strike Drum Five Times", | |
| "Apply Dish Soap Repeatedly", | |
| "Season Meat Skewers Repeatedly", | |
| "Pack Items For Shipping", | |
| "Arrange Flowers and Reed Diffuser", | |
| "Prepare Breakfast" | |
| ], | |
| "display_task_names_zh": [ | |
| "用盘子转移积木", | |
| "输入键盘数字序列", | |
| "摆放餐具", | |
| "摆放调料罐", | |
| "将塑料盘装入盘架", | |
| "按按钮五次", | |
| "将小锅放上电磁炉", | |
| "整理桌面工作区", | |
| "整理书本和笔", | |
| "摆放家庭茶具", | |
| "按顺序打开与关闭抽屉", | |
| "按顺序摆放彩色积木", | |
| "装填并摆放笔筒", | |
| "整理化妆品收纳盒", | |
| "敲鼓五次", | |
| "反复按压洗洁精瓶", | |
| "反复给肉串撒料", | |
| "打包待寄送物品", | |
| "插花与摆放藤条香薰", | |
| "准备早餐" | |
| ], | |
| "source_episode_selection_exceptions": [ | |
| { | |
| "task_index": 9, | |
| "display_task_name": "Arrange Family Tea Set", | |
| "source_dataset_id": 224282, | |
| "source_task_id": 172027, | |
| "source_episode_index": 5, | |
| "source_episode_id": 52375079, | |
| "selection": "minimum original episode_id in the 27-episode tea refresh batch" | |
| } | |
| ] | |
| } | |
| ], | |
| "planned_subsets": [], | |
| "data_revision": "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145", | |
| "publication_authorization": "All data were authorized before public release." | |
| } | |