Hugging Face's logo

Datasets:
Shiki42
/
parallelvla-putcab-pi05-factorized-router-train100-val5-20260813

Dataset card Files
xet
 Community
Shiki42 commited on
Commit
88d7ac8
·
verified ·
1 Parent(s): 84cbd9f

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/train100/episode12.json +56 -0
  2. annotations/train100/episode17.json +56 -0
  3. annotations/train100/episode2.json +56 -0
  4. annotations/train100/episode21.json +56 -0
  5. annotations/train100/episode22.json +56 -0
  6. annotations/train100/episode24.json +56 -0
  7. annotations/train100/episode25.json +56 -0
  8. annotations/train100/episode28.json +56 -0
  9. annotations/train100/episode29.json +67 -0
  10. annotations/train100/episode30.json +56 -0
  11. annotations/train100/episode31.json +56 -0
  12. annotations/train100/episode35.json +56 -0
  13. annotations/train100/episode38.json +56 -0
  14. annotations/train100/episode42.json +56 -0
  15. annotations/train100/episode44.json +56 -0
  16. annotations/train100/episode48.json +56 -0
  17. annotations/train100/episode49.json +56 -0
  18. annotations/train100/episode5.json +56 -0
  19. annotations/train100/episode50.json +51 -0
  20. annotations/train100/episode51.json +51 -0
  21. annotations/train100/episode52.json +51 -0
  22. annotations/train100/episode56.json +51 -0
  23. annotations/train100/episode63.json +51 -0
  24. annotations/train100/episode65.json +51 -0
  25. annotations/train100/episode66.json +51 -0
  26. annotations/train100/episode68.json +51 -0
  27. annotations/train100/episode73.json +51 -0
  28. annotations/train100/episode75.json +51 -0
  29. annotations/train100/episode76.json +51 -0
  30. annotations/train100/episode77.json +51 -0
  31. annotations/train100/episode78.json +51 -0
  32. annotations/train100/episode79.json +51 -0
  33. annotations/train100/episode88.json +51 -0
  34. annotations/train100/episode92.json +51 -0
  35. annotations/train100/episode94.json +51 -0
  36. annotations/train100/episode95.json +51 -0
  37. annotations/train100/episode96.json +51 -0
  38. annotations/train100/episode97.json +51 -0
  39. annotations/val5/episode0.json +45 -0
  40. annotations/val5/episode1.json +56 -0
  41. annotations/val5/episode2.json +45 -0
  42. annotations/val5/episode3.json +56 -0
  43. annotations/val5/episode4.json +45 -0
  44. annotations/val5/manifest.json +281 -0
  45. datasets/train100/data/chunk-000/episode_000000.parquet +3 -0
  46. datasets/train100/data/chunk-000/episode_000001.parquet +3 -0
  47. datasets/train100/data/chunk-000/episode_000002.parquet +3 -0
  48. datasets/train100/data/chunk-000/episode_000003.parquet +3 -0
  49. datasets/train100/data/chunk-000/episode_000004.parquet +3 -0
  50. datasets/train100/data/chunk-000/episode_000005.parquet +3 -0
annotations/train100/episode12.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 12,
3
+ "source_episode": 12,
4
+ "split": "train",
5
+ "frame_count": 215,
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": 215,
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/episode17.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 17,
3
+ "source_episode": 17,
4
+ "split": "train",
5
+ "frame_count": 206,
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": 206,
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/episode2.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 2,
3
+ "source_episode": 2,
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": 114,
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": 114,
35
+ "end": 118,
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": 118,
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/episode21.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 21,
3
+ "source_episode": 21,
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": 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": 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": 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/episode22.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 22,
3
+ "source_episode": 22,
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": 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": 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/episode24.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 24,
3
+ "source_episode": 24,
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": 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": 114,
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": 114,
35
+ "end": 118,
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": 118,
46
+ "end": 207,
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/episode25.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 25,
3
+ "source_episode": 25,
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": 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": 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/episode28.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 28,
3
+ "source_episode": 28,
4
+ "split": "train",
5
+ "frame_count": 206,
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": 206,
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/episode29.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 29,
3
+ "source_episode": 29,
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": 10,
14
+ "stage_id": 6,
15
+ "stage_key": "left_reach_grasp_object__right_wait",
16
+ "arm_semantic_keys": {
17
+ "left": "reach_grasp_object",
18
+ "right": "wait"
19
+ },
20
+ "subtask_text": "Left arm: reach and grasp object; Right arm: wait."
21
+ },
22
+ {
23
+ "start": 10,
24
+ "end": 66,
25
+ "stage_id": 9,
26
+ "stage_key": "left_reach_grasp_object__right_reach_open_drawer",
27
+ "arm_semantic_keys": {
28
+ "left": "reach_grasp_object",
29
+ "right": "reach_open_drawer"
30
+ },
31
+ "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
32
+ },
33
+ {
34
+ "start": 66,
35
+ "end": 120,
36
+ "stage_id": 15,
37
+ "stage_key": "left_wait_hold_object__right_reach_open_drawer",
38
+ "arm_semantic_keys": {
39
+ "left": "wait_hold_object",
40
+ "right": "reach_open_drawer"
41
+ },
42
+ "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
43
+ },
44
+ {
45
+ "start": 120,
46
+ "end": 124,
47
+ "stage_id": 17,
48
+ "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
49
+ "arm_semantic_keys": {
50
+ "left": "wait_hold_object",
51
+ "right": "wait_hold_drawer_open"
52
+ },
53
+ "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
54
+ },
55
+ {
56
+ "start": 124,
57
+ "end": 207,
58
+ "stage_id": 29,
59
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
60
+ "arm_semantic_keys": {
61
+ "left": "insert_place_object",
62
+ "right": "wait_hold_drawer_open"
63
+ },
64
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
65
+ }
66
+ ]
67
+ }
annotations/train100/episode30.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 30,
3
+ "source_episode": 30,
4
+ "split": "train",
5
+ "frame_count": 209,
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": 114,
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": 114,
35
+ "end": 118,
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": 118,
46
+ "end": 209,
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/episode31.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 31,
3
+ "source_episode": 31,
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/episode35.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 35,
3
+ "source_episode": 35,
4
+ "split": "train",
5
+ "frame_count": 210,
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": 210,
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/episode38.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 38,
3
+ "source_episode": 38,
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": 114,
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": 114,
35
+ "end": 118,
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": 118,
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/episode42.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 42,
3
+ "source_episode": 42,
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": 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": 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/episode44.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 44,
3
+ "source_episode": 44,
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": 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": 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/episode48.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 48,
3
+ "source_episode": 48,
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": 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": 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/episode49.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 49,
3
+ "source_episode": 49,
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": 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": 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/episode5.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 5,
3
+ "source_episode": 5,
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": 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": 114,
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": 114,
35
+ "end": 118,
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": 118,
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/episode50.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 50,
3
+ "source_episode": 0,
4
+ "split": "train",
5
+ "frame_count": 201,
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": 50,
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": 113,
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": 113,
41
+ "end": 201,
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/episode51.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 51,
3
+ "source_episode": 1,
4
+ "split": "train",
5
+ "frame_count": 254,
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": 90,
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": 156,
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": 156,
41
+ "end": 254,
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/episode52.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 52,
3
+ "source_episode": 2,
4
+ "split": "train",
5
+ "frame_count": 211,
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": 51,
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": 117,
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": 117,
41
+ "end": 211,
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/episode56.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 56,
3
+ "source_episode": 6,
4
+ "split": "train",
5
+ "frame_count": 228,
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": 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": 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": 228,
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/episode63.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 63,
3
+ "source_episode": 13,
4
+ "split": "train",
5
+ "frame_count": 241,
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": 82,
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": 148,
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": 148,
41
+ "end": 241,
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/episode65.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 65,
3
+ "source_episode": 15,
4
+ "split": "train",
5
+ "frame_count": 207,
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": 45,
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": 114,
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": 114,
41
+ "end": 207,
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/episode66.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 66,
3
+ "source_episode": 16,
4
+ "split": "train",
5
+ "frame_count": 253,
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": 90,
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": 156,
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": 156,
41
+ "end": 253,
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/episode68.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 68,
3
+ "source_episode": 18,
4
+ "split": "train",
5
+ "frame_count": 215,
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": 67,
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": 130,
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": 130,
41
+ "end": 215,
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/episode73.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 73,
3
+ "source_episode": 23,
4
+ "split": "train",
5
+ "frame_count": 250,
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": 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": 250,
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/episode75.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 75,
3
+ "source_episode": 25,
4
+ "split": "train",
5
+ "frame_count": 239,
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": 83,
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": 149,
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": 149,
41
+ "end": 239,
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/episode76.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 76,
3
+ "source_episode": 26,
4
+ "split": "train",
5
+ "frame_count": 255,
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": 85,
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": 154,
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": 154,
41
+ "end": 255,
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/episode77.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 77,
3
+ "source_episode": 27,
4
+ "split": "train",
5
+ "frame_count": 244,
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": 84,
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": 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": 114,
30
+ "end": 150,
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": 150,
41
+ "end": 244,
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/episode78.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 78,
3
+ "source_episode": 28,
4
+ "split": "train",
5
+ "frame_count": 240,
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": 80,
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": 149,
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": 149,
41
+ "end": 240,
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/episode79.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 79,
3
+ "source_episode": 29,
4
+ "split": "train",
5
+ "frame_count": 224,
6
+ "object_arm": "left",
7
+ "drawer_arm": "right",
8
+ "relative_delay_target": "next_active",
9
+ "rewritten_relative_delay": {
10
+ "delayed_arm": "right",
11
+ "start": 0,
12
+ "end": 30,
13
+ "physical_semantic_key": "wait",
14
+ "supervision_semantic_key": "reach_open_drawer"
15
+ },
16
+ "segments": [
17
+ {
18
+ "start": 0,
19
+ "end": 66,
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": 66,
30
+ "end": 141,
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": 141,
41
+ "end": 224,
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/episode88.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 88,
3
+ "source_episode": 38,
4
+ "split": "train",
5
+ "frame_count": 237,
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": 140,
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": 140,
41
+ "end": 237,
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/episode92.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 92,
3
+ "source_episode": 42,
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": 69,
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": 135,
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": 135,
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/episode94.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 94,
3
+ "source_episode": 44,
4
+ "split": "train",
5
+ "frame_count": 216,
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": 50,
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": 116,
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": 116,
41
+ "end": 216,
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/episode95.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 95,
3
+ "source_episode": 45,
4
+ "split": "train",
5
+ "frame_count": 202,
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": 36,
13
+ "physical_semantic_key": "wait",
14
+ "supervision_semantic_key": "reach_grasp_object"
15
+ },
16
+ "segments": [
17
+ {
18
+ "start": 0,
19
+ "end": 102,
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": 102,
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": 202,
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/episode96.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 96,
3
+ "source_episode": 46,
4
+ "split": "train",
5
+ "frame_count": 241,
6
+ "object_arm": "right",
7
+ "drawer_arm": "left",
8
+ "relative_delay_target": "next_active",
9
+ "rewritten_relative_delay": {
10
+ "delayed_arm": "left",
11
+ "start": 0,
12
+ "end": 30,
13
+ "physical_semantic_key": "wait",
14
+ "supervision_semantic_key": "reach_open_drawer"
15
+ },
16
+ "segments": [
17
+ {
18
+ "start": 0,
19
+ "end": 69,
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": 69,
30
+ "end": 150,
31
+ "stage_id": 20,
32
+ "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": 150,
41
+ "end": 241,
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/episode97.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 97,
3
+ "source_episode": 47,
4
+ "split": "train",
5
+ "frame_count": 215,
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": 50,
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": 119,
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": 119,
41
+ "end": 215,
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/val5/episode0.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 0,
3
+ "source_episode": 0,
4
+ "split": "heldout",
5
+ "frame_count": 202,
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": 202,
36
+ "stage_id": 29,
37
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
38
+ "arm_semantic_keys": {
39
+ "left": "insert_place_object",
40
+ "right": "wait_hold_drawer_open"
41
+ },
42
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
43
+ }
44
+ ]
45
+ }
annotations/val5/episode1.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 1,
3
+ "source_episode": 1,
4
+ "split": "heldout",
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": 17,
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": 17,
24
+ "end": 82,
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": 82,
35
+ "end": 111,
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": 111,
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/val5/episode2.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 2,
3
+ "source_episode": 2,
4
+ "split": "heldout",
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": 198,
36
+ "stage_id": 29,
37
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
38
+ "arm_semantic_keys": {
39
+ "left": "insert_place_object",
40
+ "right": "wait_hold_drawer_open"
41
+ },
42
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
43
+ }
44
+ ]
45
+ }
annotations/val5/episode3.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 3,
3
+ "source_episode": 3,
4
+ "split": "heldout",
5
+ "frame_count": 193,
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": 4,
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": 4,
24
+ "end": 69,
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": 69,
35
+ "end": 111,
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": 111,
46
+ "end": 193,
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/val5/episode4.json ADDED
@@ -0,0 +1,45 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 4,
3
+ "source_episode": 4,
4
+ "split": "heldout",
5
+ "frame_count": 203,
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": 203,
36
+ "stage_id": 29,
37
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
38
+ "arm_semantic_keys": {
39
+ "left": "insert_place_object",
40
+ "right": "wait_hold_drawer_open"
41
+ },
42
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
43
+ }
44
+ ]
45
+ }
annotations/val5/manifest.json ADDED
@@ -0,0 +1,281 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "parallelvla.putcab_pi05_subtask_supervision.v1",
3
+ "task": "put_object_cabinet",
4
+ "text_format": "Left arm: <semantic>; Right arm: <semantic>.",
5
+ "supervision_contract": "use canonical per-arm native projection semantics; only receipt-bound artificial relative-delay start windows use the delayed arm's first active semantic after the window; preserve all coordination wait-hold semantics",
6
+ "source_annotation_revision": "f7c80dd7f436e2c6c5fea46af5a7947d10e36197a4c4c49eaf9cdbb31498f6f1",
7
+ "sources": [
8
+ {
9
+ "parallel_dataset_root": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_putcab_heldout5_parallel_sync0_20260813",
10
+ "episode_index_offset": 0,
11
+ "split": "heldout",
12
+ "relative_delay_target": "physical",
13
+ "projection_revision": "51c224f36641fbe5b43b3aa3a536b0e615b266fc166682ef0b22ae457cca1aa6",
14
+ "retime_manifest_sha256": "31bf022b425c97389725392f712e72ee82957cc58e3151595247f8892c2d58a7",
15
+ "episode_count": 5
16
+ }
17
+ ],
18
+ "episode_counts": {
19
+ "heldout": 5
20
+ },
21
+ "frame_count": 1004,
22
+ "paired_text_frame_counts": {
23
+ "Left arm: insert and place object; Right arm: wait while holding drawer open.": 267,
24
+ "Left arm: reach and grasp object; Right arm: reach and open drawer.": 198,
25
+ "Left arm: reach and open drawer; Right arm: reach and grasp object.": 130,
26
+ "Left arm: reach and open drawer; Right arm: wait while holding object.": 71,
27
+ "Left arm: reach and open drawer; Right arm: wait.": 21,
28
+ "Left arm: wait while holding drawer open; Right arm: insert and place object.": 179,
29
+ "Left arm: wait while holding object; Right arm: reach and open drawer.": 138
30
+ },
31
+ "episodes": [
32
+ {
33
+ "episode": 0,
34
+ "source_episode": 0,
35
+ "split": "heldout",
36
+ "frame_count": 202,
37
+ "object_arm": "left",
38
+ "drawer_arm": "right",
39
+ "relative_delay_target": "physical",
40
+ "rewritten_relative_delay": null,
41
+ "segments": [
42
+ {
43
+ "start": 0,
44
+ "end": 66,
45
+ "stage_id": 9,
46
+ "stage_key": "left_reach_grasp_object__right_reach_open_drawer",
47
+ "arm_semantic_keys": {
48
+ "left": "reach_grasp_object",
49
+ "right": "reach_open_drawer"
50
+ },
51
+ "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
52
+ },
53
+ {
54
+ "start": 66,
55
+ "end": 111,
56
+ "stage_id": 15,
57
+ "stage_key": "left_wait_hold_object__right_reach_open_drawer",
58
+ "arm_semantic_keys": {
59
+ "left": "wait_hold_object",
60
+ "right": "reach_open_drawer"
61
+ },
62
+ "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
63
+ },
64
+ {
65
+ "start": 111,
66
+ "end": 202,
67
+ "stage_id": 29,
68
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
69
+ "arm_semantic_keys": {
70
+ "left": "insert_place_object",
71
+ "right": "wait_hold_drawer_open"
72
+ },
73
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
74
+ }
75
+ ]
76
+ },
77
+ {
78
+ "episode": 1,
79
+ "source_episode": 1,
80
+ "split": "heldout",
81
+ "frame_count": 208,
82
+ "object_arm": "right",
83
+ "drawer_arm": "left",
84
+ "relative_delay_target": "physical",
85
+ "rewritten_relative_delay": null,
86
+ "segments": [
87
+ {
88
+ "start": 0,
89
+ "end": 17,
90
+ "stage_id": 18,
91
+ "stage_key": "left_reach_open_drawer__right_wait",
92
+ "arm_semantic_keys": {
93
+ "left": "reach_open_drawer",
94
+ "right": "wait"
95
+ },
96
+ "subtask_text": "Left arm: reach and open drawer; Right arm: wait."
97
+ },
98
+ {
99
+ "start": 17,
100
+ "end": 82,
101
+ "stage_id": 19,
102
+ "stage_key": "left_reach_open_drawer__right_reach_grasp_object",
103
+ "arm_semantic_keys": {
104
+ "left": "reach_open_drawer",
105
+ "right": "reach_grasp_object"
106
+ },
107
+ "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
108
+ },
109
+ {
110
+ "start": 82,
111
+ "end": 111,
112
+ "stage_id": 20,
113
+ "stage_key": "left_reach_open_drawer__right_wait_hold_object",
114
+ "arm_semantic_keys": {
115
+ "left": "reach_open_drawer",
116
+ "right": "wait_hold_object"
117
+ },
118
+ "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
119
+ },
120
+ {
121
+ "start": 111,
122
+ "end": 208,
123
+ "stage_id": 34,
124
+ "stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
125
+ "arm_semantic_keys": {
126
+ "left": "wait_hold_drawer_open",
127
+ "right": "insert_place_object"
128
+ },
129
+ "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
130
+ }
131
+ ]
132
+ },
133
+ {
134
+ "episode": 2,
135
+ "source_episode": 2,
136
+ "split": "heldout",
137
+ "frame_count": 198,
138
+ "object_arm": "left",
139
+ "drawer_arm": "right",
140
+ "relative_delay_target": "physical",
141
+ "rewritten_relative_delay": null,
142
+ "segments": [
143
+ {
144
+ "start": 0,
145
+ "end": 66,
146
+ "stage_id": 9,
147
+ "stage_key": "left_reach_grasp_object__right_reach_open_drawer",
148
+ "arm_semantic_keys": {
149
+ "left": "reach_grasp_object",
150
+ "right": "reach_open_drawer"
151
+ },
152
+ "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
153
+ },
154
+ {
155
+ "start": 66,
156
+ "end": 111,
157
+ "stage_id": 15,
158
+ "stage_key": "left_wait_hold_object__right_reach_open_drawer",
159
+ "arm_semantic_keys": {
160
+ "left": "wait_hold_object",
161
+ "right": "reach_open_drawer"
162
+ },
163
+ "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
164
+ },
165
+ {
166
+ "start": 111,
167
+ "end": 198,
168
+ "stage_id": 29,
169
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
170
+ "arm_semantic_keys": {
171
+ "left": "insert_place_object",
172
+ "right": "wait_hold_drawer_open"
173
+ },
174
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
175
+ }
176
+ ]
177
+ },
178
+ {
179
+ "episode": 3,
180
+ "source_episode": 3,
181
+ "split": "heldout",
182
+ "frame_count": 193,
183
+ "object_arm": "right",
184
+ "drawer_arm": "left",
185
+ "relative_delay_target": "physical",
186
+ "rewritten_relative_delay": null,
187
+ "segments": [
188
+ {
189
+ "start": 0,
190
+ "end": 4,
191
+ "stage_id": 18,
192
+ "stage_key": "left_reach_open_drawer__right_wait",
193
+ "arm_semantic_keys": {
194
+ "left": "reach_open_drawer",
195
+ "right": "wait"
196
+ },
197
+ "subtask_text": "Left arm: reach and open drawer; Right arm: wait."
198
+ },
199
+ {
200
+ "start": 4,
201
+ "end": 69,
202
+ "stage_id": 19,
203
+ "stage_key": "left_reach_open_drawer__right_reach_grasp_object",
204
+ "arm_semantic_keys": {
205
+ "left": "reach_open_drawer",
206
+ "right": "reach_grasp_object"
207
+ },
208
+ "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
209
+ },
210
+ {
211
+ "start": 69,
212
+ "end": 111,
213
+ "stage_id": 20,
214
+ "stage_key": "left_reach_open_drawer__right_wait_hold_object",
215
+ "arm_semantic_keys": {
216
+ "left": "reach_open_drawer",
217
+ "right": "wait_hold_object"
218
+ },
219
+ "subtask_text": "Left arm: reach and open drawer; Right arm: wait while holding object."
220
+ },
221
+ {
222
+ "start": 111,
223
+ "end": 193,
224
+ "stage_id": 34,
225
+ "stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
226
+ "arm_semantic_keys": {
227
+ "left": "wait_hold_drawer_open",
228
+ "right": "insert_place_object"
229
+ },
230
+ "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
231
+ }
232
+ ]
233
+ },
234
+ {
235
+ "episode": 4,
236
+ "source_episode": 4,
237
+ "split": "heldout",
238
+ "frame_count": 203,
239
+ "object_arm": "left",
240
+ "drawer_arm": "right",
241
+ "relative_delay_target": "physical",
242
+ "rewritten_relative_delay": null,
243
+ "segments": [
244
+ {
245
+ "start": 0,
246
+ "end": 66,
247
+ "stage_id": 9,
248
+ "stage_key": "left_reach_grasp_object__right_reach_open_drawer",
249
+ "arm_semantic_keys": {
250
+ "left": "reach_grasp_object",
251
+ "right": "reach_open_drawer"
252
+ },
253
+ "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
254
+ },
255
+ {
256
+ "start": 66,
257
+ "end": 114,
258
+ "stage_id": 15,
259
+ "stage_key": "left_wait_hold_object__right_reach_open_drawer",
260
+ "arm_semantic_keys": {
261
+ "left": "wait_hold_object",
262
+ "right": "reach_open_drawer"
263
+ },
264
+ "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
265
+ },
266
+ {
267
+ "start": 114,
268
+ "end": 203,
269
+ "stage_id": 29,
270
+ "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
271
+ "arm_semantic_keys": {
272
+ "left": "insert_place_object",
273
+ "right": "wait_hold_drawer_open"
274
+ },
275
+ "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
276
+ }
277
+ ]
278
+ }
279
+ ],
280
+ "data_revision": "691846d9a2d1a72464a6c4c086d15738139c6838b5f7f36b4d7bd86c6a21d26e"
281
+ }
datasets/train100/data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:523b0ed2d8bfbfa0b5a3191149dbe2c210070a9bdb915ac58d30d6b7a170f7ca
3
+ size 20447
datasets/train100/data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7c68d701d6f77962dde79c82d3b2061ba11d50ebd05caf5d6acd79b32c4ea32
3
+ size 21341
datasets/train100/data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aedade5a5250c450463c4af678574c0481821a1298b60e40227e8127d2d46d23
3
+ size 21263
datasets/train100/data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9237a0c305578607a729fa5d4df6c79e44b7ece4d81888665ad1eb91701e0707
3
+ size 20848
datasets/train100/data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f5de01f7f2620dae6bc9be6726eac6ba136a35ffd98cb79bfaf396dfd411086
3
+ size 20130
datasets/train100/data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff5f968d6f4cf296c4fa9003d94dc70f00b009423992b5e9b2c91f7a4212e26f
3
+ size 21022