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- BUNDLE_INVENTORY.json +0 -0
- BUNDLE_MANIFEST.json +95 -0
- annotations/train100/episode0.json +56 -0
- annotations/train100/episode1.json +56 -0
- annotations/train100/episode10.json +56 -0
- annotations/train100/episode11.json +56 -0
- annotations/train100/episode13.json +56 -0
- annotations/train100/episode14.json +56 -0
- annotations/train100/episode15.json +56 -0
- annotations/train100/episode16.json +56 -0
- annotations/train100/episode18.json +56 -0
- annotations/train100/episode19.json +56 -0
- annotations/train100/episode20.json +56 -0
- annotations/train100/episode23.json +56 -0
- annotations/train100/episode26.json +56 -0
- annotations/train100/episode27.json +56 -0
- annotations/train100/episode3.json +56 -0
- annotations/train100/episode32.json +67 -0
- annotations/train100/episode33.json +56 -0
- annotations/train100/episode34.json +56 -0
- annotations/train100/episode36.json +56 -0
- annotations/train100/episode37.json +56 -0
- annotations/train100/episode39.json +56 -0
- annotations/train100/episode4.json +56 -0
- annotations/train100/episode40.json +56 -0
- annotations/train100/episode41.json +56 -0
- annotations/train100/episode43.json +56 -0
- annotations/train100/episode45.json +56 -0
- annotations/train100/episode46.json +56 -0
- annotations/train100/episode47.json +56 -0
- annotations/train100/episode53.json +51 -0
- annotations/train100/episode54.json +51 -0
- annotations/train100/episode55.json +51 -0
- annotations/train100/episode57.json +40 -0
- annotations/train100/episode58.json +51 -0
- annotations/train100/episode59.json +51 -0
- annotations/train100/episode6.json +56 -0
- annotations/train100/episode60.json +51 -0
- annotations/train100/episode61.json +51 -0
- annotations/train100/episode62.json +51 -0
- annotations/train100/episode64.json +51 -0
- annotations/train100/episode67.json +51 -0
- annotations/train100/episode69.json +51 -0
- annotations/train100/episode7.json +56 -0
- annotations/train100/episode70.json +51 -0
- annotations/train100/episode71.json +51 -0
- annotations/train100/episode72.json +51 -0
- annotations/train100/episode74.json +51 -0
- annotations/train100/episode8.json +56 -0
- annotations/train100/episode80.json +51 -0
BUNDLE_INVENTORY.json
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BUNDLE_MANIFEST.json
ADDED
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| 1 |
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{
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| 2 |
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"schema_version": "parallelvla.putcab_pi05_factorized_router_bundle.v1",
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| 3 |
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"task": "put_object_cabinet",
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| 4 |
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"visibility": "public",
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| 5 |
+
"created_date": "2026-08-13",
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| 6 |
+
"producer_commits": {
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| 7 |
+
"parallelvla": "93fe93490417ea28c3e97b64a3425c7163fa5c6e",
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| 8 |
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"robotwin_native": "c3ddfa8b97d5519efa828b075999bd0006778e5e",
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| 9 |
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"lerobot_converter": "0962b5e1dbe638de7aea4f07c83eab8e6db5fd9b"
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| 10 |
+
},
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| 11 |
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"train": {
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| 12 |
+
"episodes": 100,
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| 13 |
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"lerobot_frames": 21645,
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| 14 |
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"native_supervision_frames": 21745,
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| 15 |
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"dataset_revision": "f00894aa39d358fba50e6c1daa4918502b7dd7ccedb52c934fc3a8f967ed9790",
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| 16 |
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"annotation_revision": "aa7206038705c765394ba5d9f535e30527a7cb1bf9c35c5f28f45eee62a759b2",
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| 17 |
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"source_annotation_revision": "3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e",
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| 18 |
+
"composition": "50 canonical parallel + 50 no-dual-wait random relative delay",
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| 19 |
+
"random_delay_router_target": "next_active"
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| 20 |
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},
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| 21 |
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"validation": {
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| 22 |
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"episodes": 5,
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| 23 |
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"seeds": [
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| 24 |
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1012,
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| 25 |
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1014,
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| 26 |
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1022,
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| 27 |
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1096,
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| 28 |
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1109
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| 29 |
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],
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| 30 |
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"object_arm_counts": {
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| 31 |
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"left": 3,
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| 32 |
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"right": 2
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| 33 |
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},
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| 34 |
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"lerobot_frames": 999,
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| 35 |
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"native_supervision_frames": 1004,
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| 36 |
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"episode_lerobot_lengths": [
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| 37 |
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201,
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| 38 |
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207,
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| 39 |
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197,
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| 40 |
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192,
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| 41 |
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202
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| 42 |
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],
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| 43 |
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"dataset_revision": "72ef47702b49199523c9037cc7cc4b36c5215d05bfa725fc9b2245afd400b840",
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| 44 |
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"annotation_revision": "691846d9a2d1a72464a6c4c086d15738139c6838b5f7f36b4d7bd86c6a21d26e",
|
| 45 |
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"source_annotation_revision": "f7c80dd7f436e2c6c5fea46af5a7947d10e36197a4c4c49eaf9cdbb31498f6f1",
|
| 46 |
+
"random_delay_router_target": "physical",
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| 47 |
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"split": "heldout"
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| 48 |
+
},
|
| 49 |
+
"normalizer": {
|
| 50 |
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"source": "train100 only",
|
| 51 |
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"sha256": "d2e9c732167c13d067dc70c34467fffc310a4aaa73511102ab6ce3377ae4a142",
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| 52 |
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"dataset_revision": "f00894aa39d358fba50e6c1daa4918502b7dd7ccedb52c934fc3a8f967ed9790",
|
| 53 |
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"action_horizon": 50,
|
| 54 |
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"robot_action_dim": 14,
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| 55 |
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"model_action_dim": 32,
|
| 56 |
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"valid_action_vectors": 959750,
|
| 57 |
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"excluded_padding_vectors": 122500
|
| 58 |
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},
|
| 59 |
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"router": {
|
| 60 |
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"stage_keys": [
|
| 61 |
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"wait",
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| 62 |
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"reach_grasp_object",
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| 63 |
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"wait_hold_object",
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| 64 |
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"reach_open_drawer",
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| 65 |
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"insert_place_object",
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| 66 |
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"wait_hold_drawer_open"
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| 67 |
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],
|
| 68 |
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"text_format": "Left arm: <semantic>; Right arm: <semantic>.",
|
| 69 |
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"action_prompt_format": "{task}\\nCurrent subtask: {subtask}",
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| 70 |
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"router_supervises_hold_frames": true,
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| 71 |
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"action_loss_stages": [
|
| 72 |
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"reach_grasp_object",
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| 73 |
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"reach_open_drawer",
|
| 74 |
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"insert_place_object"
|
| 75 |
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],
|
| 76 |
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"hold_wait_arm_action_dimensions_masked": true,
|
| 77 |
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"robot_action_basis": {
|
| 78 |
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"left": [
|
| 79 |
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0,
|
| 80 |
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7
|
| 81 |
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],
|
| 82 |
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"right": [
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| 83 |
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7,
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| 84 |
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14
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| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"model_action_dim": 32
|
| 88 |
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},
|
| 89 |
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"alignment": {
|
| 90 |
+
"lerobot_row": "state[t] paired with native action[t+1]",
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| 91 |
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"per_episode_lerobot_length": "native_frame_count - 1",
|
| 92 |
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"action_horizon": 50,
|
| 93 |
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"no_cross_stage_action_loss": true
|
| 94 |
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}
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| 95 |
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}
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annotations/train100/episode0.json
ADDED
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@@ -0,0 +1,56 @@
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| 1 |
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{
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| 2 |
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"episode": 0,
|
| 3 |
+
"source_episode": 0,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 203,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 63,
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| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 63,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 203,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
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annotations/train100/episode1.json
ADDED
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| 1 |
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{
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| 2 |
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"episode": 1,
|
| 3 |
+
"source_episode": 1,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 213,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
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"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
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"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
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"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 213,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode10.json
ADDED
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| 1 |
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{
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| 2 |
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"episode": 10,
|
| 3 |
+
"source_episode": 10,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 216,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 117,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 117,
|
| 35 |
+
"end": 121,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 121,
|
| 46 |
+
"end": 216,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode11.json
ADDED
|
@@ -0,0 +1,56 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 11,
|
| 3 |
+
"source_episode": 11,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 206,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 206,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode13.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 13,
|
| 3 |
+
"source_episode": 13,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 208,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 208,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode14.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 14,
|
| 3 |
+
"source_episode": 14,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 212,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 212,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode15.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 15,
|
| 3 |
+
"source_episode": 15,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 208,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 208,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode16.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 16,
|
| 3 |
+
"source_episode": 16,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 212,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 212,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode18.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 18,
|
| 3 |
+
"source_episode": 18,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 200,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 63,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 63,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 200,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode19.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 19,
|
| 3 |
+
"source_episode": 19,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 198,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 198,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode20.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 20,
|
| 3 |
+
"source_episode": 20,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 207,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 114,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 114,
|
| 35 |
+
"end": 118,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 118,
|
| 46 |
+
"end": 207,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode23.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 23,
|
| 3 |
+
"source_episode": 23,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 210,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 210,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode26.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 26,
|
| 3 |
+
"source_episode": 26,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 216,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 216,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode27.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 27,
|
| 3 |
+
"source_episode": 27,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 212,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 114,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 114,
|
| 35 |
+
"end": 118,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 118,
|
| 46 |
+
"end": 212,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode3.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 3,
|
| 3 |
+
"source_episode": 3,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 209,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 209,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode32.json
ADDED
|
@@ -0,0 +1,67 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 32,
|
| 3 |
+
"source_episode": 32,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 207,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 40,
|
| 14 |
+
"stage_id": 18,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_wait",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "wait"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 40,
|
| 24 |
+
"end": 105,
|
| 25 |
+
"stage_id": 19,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "reach_grasp_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 105,
|
| 35 |
+
"end": 114,
|
| 36 |
+
"stage_id": 20,
|
| 37 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "reach_open_drawer",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 114,
|
| 46 |
+
"end": 118,
|
| 47 |
+
"stage_id": 32,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "wait_hold_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"start": 118,
|
| 57 |
+
"end": 207,
|
| 58 |
+
"stage_id": 34,
|
| 59 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 60 |
+
"arm_semantic_keys": {
|
| 61 |
+
"left": "wait_hold_drawer_open",
|
| 62 |
+
"right": "insert_place_object"
|
| 63 |
+
},
|
| 64 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 65 |
+
}
|
| 66 |
+
]
|
| 67 |
+
}
|
annotations/train100/episode33.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 33,
|
| 3 |
+
"source_episode": 33,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 217,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 217,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode34.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 34,
|
| 3 |
+
"source_episode": 34,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 205,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 205,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode36.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 36,
|
| 3 |
+
"source_episode": 36,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 201,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 201,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode37.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 37,
|
| 3 |
+
"source_episode": 37,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 211,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 211,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode39.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 39,
|
| 3 |
+
"source_episode": 39,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 211,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 211,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode4.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 4,
|
| 3 |
+
"source_episode": 4,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 200,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 200,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode40.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 40,
|
| 3 |
+
"source_episode": 40,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 204,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 204,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode41.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 41,
|
| 3 |
+
"source_episode": 41,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 212,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 63,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 63,
|
| 24 |
+
"end": 114,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 114,
|
| 35 |
+
"end": 118,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 118,
|
| 46 |
+
"end": 212,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode43.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 43,
|
| 3 |
+
"source_episode": 43,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 211,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 211,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode45.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 45,
|
| 3 |
+
"source_episode": 45,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 206,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 206,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode46.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 46,
|
| 3 |
+
"source_episode": 46,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 215,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 120,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 120,
|
| 35 |
+
"end": 124,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 124,
|
| 46 |
+
"end": 215,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode47.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 47,
|
| 3 |
+
"source_episode": 47,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 208,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 69,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 69,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 208,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode53.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 53,
|
| 3 |
+
"source_episode": 3,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 229,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 63,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 108,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 108,
|
| 30 |
+
"end": 132,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 132,
|
| 41 |
+
"end": 229,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode54.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 54,
|
| 3 |
+
"source_episode": 4,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 196,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 41,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 107,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 107,
|
| 30 |
+
"end": 108,
|
| 31 |
+
"stage_id": 15,
|
| 32 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_object",
|
| 35 |
+
"right": "reach_open_drawer"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 108,
|
| 41 |
+
"end": 196,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode55.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 55,
|
| 3 |
+
"source_episode": 5,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 229,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 71,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 114,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 114,
|
| 30 |
+
"end": 137,
|
| 31 |
+
"stage_id": 31,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "reach_grasp_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 137,
|
| 41 |
+
"end": 229,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode57.json
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 57,
|
| 3 |
+
"source_episode": 7,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 212,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 36,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 108,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 108,
|
| 30 |
+
"end": 212,
|
| 31 |
+
"stage_id": 34,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "insert_place_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 38 |
+
}
|
| 39 |
+
]
|
| 40 |
+
}
|
annotations/train100/episode58.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 58,
|
| 3 |
+
"source_episode": 8,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 252,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 86,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 114,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 114,
|
| 30 |
+
"end": 155,
|
| 31 |
+
"stage_id": 31,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "reach_grasp_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 155,
|
| 41 |
+
"end": 252,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode59.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 59,
|
| 3 |
+
"source_episode": 9,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 217,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 53,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 108,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 108,
|
| 30 |
+
"end": 122,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 122,
|
| 41 |
+
"end": 217,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode6.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 6,
|
| 3 |
+
"source_episode": 6,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 213,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 66,
|
| 14 |
+
"stage_id": 9,
|
| 15 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_grasp_object",
|
| 18 |
+
"right": "reach_open_drawer"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 66,
|
| 24 |
+
"end": 111,
|
| 25 |
+
"stage_id": 15,
|
| 26 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "wait_hold_object",
|
| 29 |
+
"right": "reach_open_drawer"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 111,
|
| 35 |
+
"end": 115,
|
| 36 |
+
"stage_id": 17,
|
| 37 |
+
"stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_object",
|
| 40 |
+
"right": "wait_hold_drawer_open"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 115,
|
| 46 |
+
"end": 213,
|
| 47 |
+
"stage_id": 29,
|
| 48 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "insert_place_object",
|
| 51 |
+
"right": "wait_hold_drawer_open"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode60.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 60,
|
| 3 |
+
"source_episode": 10,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 225,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 64,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 117,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 117,
|
| 30 |
+
"end": 130,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 130,
|
| 41 |
+
"end": 225,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode61.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 61,
|
| 3 |
+
"source_episode": 11,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 223,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 66,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 132,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 132,
|
| 41 |
+
"end": 223,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode62.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 62,
|
| 3 |
+
"source_episode": 12,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 238,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 72,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 138,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 138,
|
| 41 |
+
"end": 238,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode64.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 64,
|
| 3 |
+
"source_episode": 14,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 235,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 72,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 138,
|
| 31 |
+
"stage_id": 31,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "reach_grasp_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 138,
|
| 41 |
+
"end": 235,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode67.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 67,
|
| 3 |
+
"source_episode": 17,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 243,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 86,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 152,
|
| 31 |
+
"stage_id": 31,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "reach_grasp_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 152,
|
| 41 |
+
"end": 243,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode69.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 69,
|
| 3 |
+
"source_episode": 19,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 226,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 77,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 143,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 143,
|
| 41 |
+
"end": 226,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode7.json
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 7,
|
| 3 |
+
"source_episode": 7,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 216,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "physical",
|
| 9 |
+
"rewritten_relative_delay": null,
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"start": 0,
|
| 13 |
+
"end": 72,
|
| 14 |
+
"stage_id": 19,
|
| 15 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 16 |
+
"arm_semantic_keys": {
|
| 17 |
+
"left": "reach_open_drawer",
|
| 18 |
+
"right": "reach_grasp_object"
|
| 19 |
+
},
|
| 20 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"start": 72,
|
| 24 |
+
"end": 108,
|
| 25 |
+
"stage_id": 20,
|
| 26 |
+
"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 27 |
+
"arm_semantic_keys": {
|
| 28 |
+
"left": "reach_open_drawer",
|
| 29 |
+
"right": "wait_hold_object"
|
| 30 |
+
},
|
| 31 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"start": 108,
|
| 35 |
+
"end": 112,
|
| 36 |
+
"stage_id": 32,
|
| 37 |
+
"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
|
| 38 |
+
"arm_semantic_keys": {
|
| 39 |
+
"left": "wait_hold_drawer_open",
|
| 40 |
+
"right": "wait_hold_object"
|
| 41 |
+
},
|
| 42 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"start": 112,
|
| 46 |
+
"end": 216,
|
| 47 |
+
"stage_id": 34,
|
| 48 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 49 |
+
"arm_semantic_keys": {
|
| 50 |
+
"left": "wait_hold_drawer_open",
|
| 51 |
+
"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
+
}
|
| 55 |
+
]
|
| 56 |
+
}
|
annotations/train100/episode70.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 70,
|
| 3 |
+
"source_episode": 20,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 203,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 34,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 103,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 103,
|
| 30 |
+
"end": 114,
|
| 31 |
+
"stage_id": 15,
|
| 32 |
+
"stage_key": "left_wait_hold_object__right_reach_open_drawer",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_object",
|
| 35 |
+
"right": "reach_open_drawer"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 114,
|
| 41 |
+
"end": 203,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode71.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 71,
|
| 3 |
+
"source_episode": 21,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 220,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 55,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 117,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 117,
|
| 30 |
+
"end": 124,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 124,
|
| 41 |
+
"end": 220,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode72.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 72,
|
| 3 |
+
"source_episode": 22,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 221,
|
| 6 |
+
"object_arm": "left",
|
| 7 |
+
"drawer_arm": "right",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "left",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 61,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 111,
|
| 20 |
+
"stage_id": 9,
|
| 21 |
+
"stage_key": "left_reach_grasp_object__right_reach_open_drawer",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_grasp_object",
|
| 24 |
+
"right": "reach_open_drawer"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 111,
|
| 30 |
+
"end": 127,
|
| 31 |
+
"stage_id": 11,
|
| 32 |
+
"stage_key": "left_reach_grasp_object__right_wait_hold_drawer_open",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_grasp_object",
|
| 35 |
+
"right": "wait_hold_drawer_open"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: wait while holding drawer open."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 127,
|
| 41 |
+
"end": 221,
|
| 42 |
+
"stage_id": 29,
|
| 43 |
+
"stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "insert_place_object",
|
| 46 |
+
"right": "wait_hold_drawer_open"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode74.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 74,
|
| 3 |
+
"source_episode": 24,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 214,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 56,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 114,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
+
"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 114,
|
| 30 |
+
"end": 125,
|
| 31 |
+
"stage_id": 31,
|
| 32 |
+
"stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "wait_hold_drawer_open",
|
| 35 |
+
"right": "reach_grasp_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 125,
|
| 41 |
+
"end": 214,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
annotations/train100/episode8.json
ADDED
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| 1 |
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{
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| 2 |
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"episode": 8,
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| 3 |
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"source_episode": 8,
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| 4 |
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"split": "train",
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| 5 |
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"frame_count": 215,
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| 6 |
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"object_arm": "right",
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| 7 |
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"drawer_arm": "left",
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| 8 |
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"relative_delay_target": "physical",
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| 9 |
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"rewritten_relative_delay": null,
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| 10 |
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"segments": [
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| 11 |
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{
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| 12 |
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"start": 0,
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| 13 |
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"end": 69,
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| 14 |
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"stage_id": 19,
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| 15 |
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"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
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| 16 |
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"arm_semantic_keys": {
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| 17 |
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"left": "reach_open_drawer",
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| 18 |
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"right": "reach_grasp_object"
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| 19 |
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},
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| 20 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
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| 21 |
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},
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| 22 |
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{
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| 23 |
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"start": 69,
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| 24 |
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"end": 114,
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| 25 |
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"stage_id": 20,
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| 26 |
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"stage_key": "left_reach_open_drawer__right_wait_hold_object",
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| 27 |
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"arm_semantic_keys": {
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| 28 |
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"left": "reach_open_drawer",
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| 29 |
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"right": "wait_hold_object"
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| 30 |
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},
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| 31 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
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| 32 |
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},
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| 33 |
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{
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| 34 |
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"start": 114,
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| 35 |
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"end": 118,
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| 36 |
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"stage_id": 32,
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| 37 |
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"stage_key": "left_wait_hold_drawer_open__right_wait_hold_object",
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| 38 |
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"arm_semantic_keys": {
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| 39 |
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"left": "wait_hold_drawer_open",
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| 40 |
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"right": "wait_hold_object"
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| 41 |
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},
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| 42 |
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"subtask_text": "Left arm: wait while holding drawer open; Right arm: wait while holding object."
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| 43 |
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},
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| 44 |
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{
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| 45 |
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"start": 118,
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| 46 |
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"end": 215,
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| 47 |
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"stage_id": 34,
|
| 48 |
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"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
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| 49 |
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"arm_semantic_keys": {
|
| 50 |
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"left": "wait_hold_drawer_open",
|
| 51 |
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"right": "insert_place_object"
|
| 52 |
+
},
|
| 53 |
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"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 54 |
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}
|
| 55 |
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]
|
| 56 |
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}
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annotations/train100/episode80.json
ADDED
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@@ -0,0 +1,51 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 80,
|
| 3 |
+
"source_episode": 30,
|
| 4 |
+
"split": "train",
|
| 5 |
+
"frame_count": 205,
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"drawer_arm": "left",
|
| 8 |
+
"relative_delay_target": "next_active",
|
| 9 |
+
"rewritten_relative_delay": {
|
| 10 |
+
"delayed_arm": "right",
|
| 11 |
+
"start": 0,
|
| 12 |
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"end": 46,
|
| 13 |
+
"physical_semantic_key": "wait",
|
| 14 |
+
"supervision_semantic_key": "reach_grasp_object"
|
| 15 |
+
},
|
| 16 |
+
"segments": [
|
| 17 |
+
{
|
| 18 |
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"start": 0,
|
| 19 |
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"end": 112,
|
| 20 |
+
"stage_id": 19,
|
| 21 |
+
"stage_key": "left_reach_open_drawer__right_reach_grasp_object",
|
| 22 |
+
"arm_semantic_keys": {
|
| 23 |
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"left": "reach_open_drawer",
|
| 24 |
+
"right": "reach_grasp_object"
|
| 25 |
+
},
|
| 26 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"start": 112,
|
| 30 |
+
"end": 114,
|
| 31 |
+
"stage_id": 20,
|
| 32 |
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"stage_key": "left_reach_open_drawer__right_wait_hold_object",
|
| 33 |
+
"arm_semantic_keys": {
|
| 34 |
+
"left": "reach_open_drawer",
|
| 35 |
+
"right": "wait_hold_object"
|
| 36 |
+
},
|
| 37 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"start": 114,
|
| 41 |
+
"end": 205,
|
| 42 |
+
"stage_id": 34,
|
| 43 |
+
"stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
|
| 44 |
+
"arm_semantic_keys": {
|
| 45 |
+
"left": "wait_hold_drawer_open",
|
| 46 |
+
"right": "insert_place_object"
|
| 47 |
+
},
|
| 48 |
+
"subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|