{"datasets":{"parallel_qwen_v6_native_v2":{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","available":true,"boundary_changed_arms":{"both":0,"left_only":77,"right_only":75},"episode_counts":{"heldout":10,"train":40},"frame_categories":{"both_active":3334,"both_wait_hold":200,"left_active_right_wait_hold":3577,"left_wait_hold_right_active":3353},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":1793,"Left arm: reach and grasp object; Right arm: wait.":10,"Left arm: reach and open drawer; Right arm: reach and grasp object.":1541,"Left arm: reach and open drawer; Right arm: wait while holding object.":996,"Left arm: reach and open drawer; Right arm: wait.":40,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding drawer open; Right arm: wait while holding object.":92,"Left arm: wait while holding object; Right arm: reach and open drawer.":1209,"Left arm: wait while holding object; Right arm: wait while holding drawer open.":108},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: ; Right arm: ."},"episode_count":50,"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]},"parallel_random_delay_seed427_preview":{"annotations":{"annotation_revision":"19b09aae3a7cb7e530b24bb6bdc6a50de77255eea03c0c83c11b08d6acb2d33b","available":true,"boundary_changed_arms":{"both":2,"left_only":2,"right_only":5},"episode_counts":{"heldout":1,"train":2},"frame_categories":{"both_active":187,"both_wait_hold":0,"left_active_right_wait_hold":184,"left_wait_hold_right_active":240},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":83,"Left arm: reach and grasp object; Right arm: reach and open drawer.":52,"Left arm: reach and grasp object; Right arm: wait while holding drawer open.":14,"Left arm: reach and open drawer; Right arm: reach and grasp object.":135,"Left arm: reach and open drawer; Right arm: wait while holding object.":11,"Left arm: reach and open drawer; Right arm: wait.":76,"Left arm: wait while holding drawer open; Right arm: insert and place object.":181,"Left arm: wait; Right arm: reach and open drawer.":59},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"d83dffc032d520c23f7687d9c6decb923ac5d57d62bf29c367ea4c14fdebd1aa","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: ; Right arm: ."},"episode_count":3,"episode_indices":[19,25,28]},"serial_qwen_gt_v2":{"annotations":{"annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","arm_semantic_frame_counts":{"left":{"insert_place_object":2531,"reach_grasp_object":1803,"reach_open_drawer":2577,"wait":1497,"wait_hold_drawer_open":2144,"wait_hold_object":2964},"right":{"insert_place_object":2144,"reach_grasp_object":1542,"reach_open_drawer":3003,"wait":1764,"wait_hold_drawer_open":2531,"wait_hold_object":2532}},"available":true,"episode_counts":{"heldout":10,"train":40},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":39,"Left arm: reach and grasp object; Right arm: wait.":1764,"Left arm: reach and open drawer; Right arm: reach and grasp object.":45,"Left arm: reach and open drawer; Right arm: wait while holding object.":2532,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding object; Right arm: reach and open drawer.":2964,"Left arm: wait; Right arm: reach and grasp object.":1497},"schema_version":"parallelvla.putcab_dual_arm_subtask.v2","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"text_format":"Left arm: ; Right arm: ."},"episode_count":50,"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]}},"fps":30.0,"mesh_count":18,"meshes":[{"index":0,"link_name":"fl_base_link","name":"fl_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":1,"link_name":"fl_link1","name":"fl_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":2,"link_name":"fl_link2","name":"fl_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":3,"link_name":"fl_link3","name":"fl_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":4,"link_name":"fl_link4","name":"fl_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":5,"link_name":"fl_link5","name":"fl_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":6,"link_name":"fl_link6","name":"fl_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":7,"link_name":"fl_link7","name":"fl_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":8,"link_name":"fl_link8","name":"fl_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"},{"index":9,"link_name":"fr_base_link","name":"fr_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":10,"link_name":"fr_link1","name":"fr_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":11,"link_name":"fr_link2","name":"fr_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":12,"link_name":"fr_link3","name":"fr_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":13,"link_name":"fr_link4","name":"fr_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":14,"link_name":"fr_link5","name":"fr_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":15,"link_name":"fr_link6","name":"fr_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":16,"link_name":"fr_link7","name":"fr_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":17,"link_name":"fr_link8","name":"fr_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"}]}