Publish Qwen short-subtask annotation revision 3af8b302
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ANNOTATION_RECEIPT.json +264 -0
- README.md +22 -0
- SOURCE_INVENTORY.sha256 +53 -0
- TRANSFER_RECEIPT.json +11 -0
- episode0.json +50 -0
- episode1.json +50 -0
- episode10.json +50 -0
- episode11.json +50 -0
- episode12.json +50 -0
- episode13.json +61 -0
- episode14.json +50 -0
- episode15.json +61 -0
- episode16.json +61 -0
- episode17.json +50 -0
- episode18.json +50 -0
- episode19.json +50 -0
- episode2.json +61 -0
- episode20.json +61 -0
- episode21.json +61 -0
- episode22.json +50 -0
- episode23.json +61 -0
- episode24.json +61 -0
- episode25.json +61 -0
- episode26.json +61 -0
- episode27.json +50 -0
- episode28.json +61 -0
- episode29.json +61 -0
- episode3.json +61 -0
- episode30.json +50 -0
- episode31.json +50 -0
- episode32.json +50 -0
- episode33.json +50 -0
- episode34.json +61 -0
- episode35.json +61 -0
- episode36.json +61 -0
- episode37.json +61 -0
- episode38.json +61 -0
- episode39.json +61 -0
- episode4.json +50 -0
- episode40.json +61 -0
- episode41.json +50 -0
- episode42.json +50 -0
- episode43.json +50 -0
- episode44.json +50 -0
- episode45.json +50 -0
- episode46.json +61 -0
- episode47.json +61 -0
- episode48.json +50 -0
- episode49.json +61 -0
- episode5.json +61 -0
ANNOTATION_RECEIPT.json
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| 1 |
+
{
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| 2 |
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"data_revision": "3af8b3026b544d4c7da4f56d85afdd7bca303b714f763d526f476bfc3ddff943",
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"inventory": [
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{
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| 5 |
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| 6 |
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| 65 |
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{
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| 75 |
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| 142 |
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| 210 |
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|
| 211 |
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| 212 |
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"sha256": "3156694b830c907aa990041e9aa1e0ae3dce88057f68ec530cd50b9f77d61ee9"
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| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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"sha256": "6d839727fa0c913dfba325a2c981f0c24357ba8998f169d3d358da49160b0fa2"
|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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"sha256": "f438a19b44570e543bc4983a68de62cf625d0af626e8e711aa2a4e70d4e5f91e"
|
| 228 |
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|
| 229 |
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{
|
| 230 |
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"bytes": 2131,
|
| 231 |
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"path": "episode5.json",
|
| 232 |
+
"sha256": "6983c8360866b547d9133c489102853a45b620098690342789a64fb666467605"
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
+
"sha256": "d1a151104d8073aaad4819980ae47768e3c28b731bb18e3859ec142a868c9056"
|
| 238 |
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|
| 239 |
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{
|
| 240 |
+
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|
| 241 |
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"path": "episode7.json",
|
| 242 |
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"sha256": "8ed846b7cdf8cfcaa1c89dfd4f6a5bd2bf28170d781a942830180e4cb429ceb5"
|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
"sha256": "6780c16a20250565bedf8c138f711a5908bace07305104cbeac56a60e4a0bc57"
|
| 248 |
+
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|
| 249 |
+
{
|
| 250 |
+
"bytes": 2133,
|
| 251 |
+
"path": "episode9.json",
|
| 252 |
+
"sha256": "a7d3d1152068f1da8a37993f364aa7c1b9ec30fb68792efac8ec1ca32e6d155f"
|
| 253 |
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|
| 254 |
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{
|
| 255 |
+
"bytes": 112370,
|
| 256 |
+
"path": "manifest.json",
|
| 257 |
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"sha256": "f700f52d1f22b3d00667298989489b5c503dc3413eb7145a566a8c5d5fae63ea"
|
| 258 |
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|
| 259 |
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],
|
| 260 |
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"inventory_sha256": "b37a082dd1ad5f4f3a671a32442b53694fa36f49b293e63b69207aac3b46e3f9",
|
| 261 |
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"payload_bytes": 212038,
|
| 262 |
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"payload_files": 51,
|
| 263 |
+
"schema_version": "parallelvla.putcab_short_subtask.v1"
|
| 264 |
+
}
|
README.md
ADDED
|
@@ -0,0 +1,22 @@
|
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|
|
|
| 1 |
+
---
|
| 2 |
+
license: other
|
| 3 |
+
pretty_name: RoboTwin 2.0 put_object_cabinet Qwen short-subtask annotations
|
| 4 |
+
language:
|
| 5 |
+
- en
|
| 6 |
+
task_categories:
|
| 7 |
+
- robotics
|
| 8 |
+
---
|
| 9 |
+
|
| 10 |
+
# RoboTwin 2.0 `put_object_cabinet` Qwen annotations
|
| 11 |
+
|
| 12 |
+
This public artifact contains the accepted short textual subtask annotations for 50 real RoboTwin 2.0 expert episodes. It contains annotation metadata only; it does not contain the source HDF5 or videos.
|
| 13 |
+
|
| 14 |
+
- Source model: `Qwen/Qwen2.5-VL-7B-Instruct`
|
| 15 |
+
- Prompt: `put_object_cabinet_overlap_v6_hard_gt_state_feedback`
|
| 16 |
+
- Annotation revision: `3af8b3026b544d4c7da4f56d85afdd7bca303b714f763d526f476bfc3ddff943`
|
| 17 |
+
- Split: 40 train episodes / 10 held-out episodes
|
| 18 |
+
- Raw stage frames: object reach/grasp 3261; parallel grasp/open 84; drawer reach/open 5496; joint insert/place 4675
|
| 19 |
+
|
| 20 |
+
`parallel_grasp_open` remains intact in the raw annotation. The current PI0.5 training view merges those 84 frames into the following `drawer_reach_open` segment, producing a three-stage effective target. Consumers should preserve both views when reviewing annotation quality.
|
| 21 |
+
|
| 22 |
+
The authoritative schema, per-episode boundaries, arm roles, source checksums, and provenance are in `manifest.json`. `SOURCE_INVENTORY.sha256` covers the published payload files other than the inventory and transfer receipt themselves.
|
SOURCE_INVENTORY.sha256
ADDED
|
@@ -0,0 +1,53 @@
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|
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|
|
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|
|
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|
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|
|
|
| 1 |
+
4355596542ba3cc8ca19dcafe6d8facd62db59349020f8799a7b04e603bce40f ANNOTATION_RECEIPT.json
|
| 2 |
+
2da53e64e0c49209a6e58e2ffa00324511ae54bad139252eb52df5a6a5b842b7 README.md
|
| 3 |
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ce79cdae85cae09171c786d819c492ecc217a65ede85281100f0a7bb9c24d241 episode0.json
|
| 4 |
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|
| 5 |
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6aec54be0c6ba2f7568fa1cd8a83e6a0bd1989e24366e861d088481e35bccb47 episode10.json
|
| 6 |
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|
| 7 |
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c81faaebfd1763d7d7ae950a9a8dea7f64321853d072fea63de5bcc2128de2a2 episode12.json
|
| 8 |
+
6c3a8816537a2a85d141aa2850954104f9976236db97453b829a376f87638bd1 episode13.json
|
| 9 |
+
6f136d0f5596e53b8481a3c8a20db83ecc5c1a5b5ddbb87baf586638e3dc5644 episode14.json
|
| 10 |
+
8287c2b3ffaefda1a24b1a5b1a9fbbfdcb73cc4b9c6d333db85ea9f60762404c episode15.json
|
| 11 |
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8781d13a959071c5776cf6f473f2c66f5d412823b1b14cd25c86bf7478dacf52 episode16.json
|
| 12 |
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1f64ed5fe0f3ca127efe06a2da3fdaaae59a050d5718b318b6686462a885ccb3 episode17.json
|
| 13 |
+
2131bd0d9b8708785a28d69440d274a7d73630227011076ce3a36841b5a6f7d3 episode18.json
|
| 14 |
+
52d9e1803edaba1ba8eb4bc9ebf278c46e95a8e20ce05bf4d2a80e94a04de447 episode19.json
|
| 15 |
+
4aec5299282864001829dde8b6af6c53c819049a198820107589538fb713c695 episode2.json
|
| 16 |
+
f7a6dd23378c45fe335e2360f2c240b23a30bec677c3abad2a51b80b07a2d0a3 episode20.json
|
| 17 |
+
4a30f9c5ae63edb14ec14d454bf488b541e2771cc98e95ee9687ccd01cd12404 episode21.json
|
| 18 |
+
b65925a2b519dab0d58bc180f1e225ae012de64a3a5249d29eaf16459a0774fb episode22.json
|
| 19 |
+
bebbe7b410b7e0ecaaea0c5395fcb96cebd446bc83c00efe577605fdb5fca7b0 episode23.json
|
| 20 |
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e93e3c230f6f4714c479d68f49a8fa3fcf0aa7f9d0d65a481670c8775d559170 episode24.json
|
| 21 |
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085cd9fadd0483c42e6c1441c7a1231e2dc4b5c6b1c5cc2b6d7462f76be99e20 episode25.json
|
| 22 |
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|
| 23 |
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86d1c97bc200db2da5fb77d66335f58d63197fed39499fea2b00700d42b80ae6 episode27.json
|
| 24 |
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f1197beabbefbb21d126e2c655863f27436df76787014d2abc068e1a3298cc5a episode28.json
|
| 25 |
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7d5523aff402ecce934b09a6e9243044a13b70e631f031902f8049c41814f67e episode29.json
|
| 26 |
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|
| 27 |
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606beb2c37807e8cba739368377abf29e920df2078b4a5b2b568154ab09cb912 episode30.json
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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2962cfd9a2c65c0ee79ec4e667daea01351d88d8c76d3fa4d0643fc58caa3439 episode35.json
|
| 33 |
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6c7eff0cbe30841bf6c2cf2e16d52868541f1d84309012f48e7524b90f0ab3a1 episode36.json
|
| 34 |
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ab895a5f475a23cc44cf416b3aa3f820491cafdabc7c79f46b7ce762c720a0b0 episode37.json
|
| 35 |
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376fa460ebabbfeb90c7f165737ea19aa9b980c03ff4cdaa278b0380189384f5 episode38.json
|
| 36 |
+
65c6910194dc7445da12755dcf6bb00b53cd2a03df3248d2dc0ad6d8efba35b4 episode39.json
|
| 37 |
+
80730ec8ba09b7ceecdcb6e95964fcdf335c5750ffc51872949c151559afaed7 episode4.json
|
| 38 |
+
f7527690853e4fd587d5037b2c1a1dcdc711969ecb5b982f5b29b340ad887d28 episode40.json
|
| 39 |
+
5d7a26174bb15bc7a98ebe1487c6807ab771b89efb5a6c4246b5ac01cd907215 episode41.json
|
| 40 |
+
d025416e1d688be97d8151b33e512c734001bedb42fb9ac0cad3a46497991fe1 episode42.json
|
| 41 |
+
f4c630941b07890c4b2d9a8b2888e13b619f771bd9048170f2777e36cc869ad2 episode43.json
|
| 42 |
+
6f4ddbf0f334d8ac121908e938b00a68fb825cd811aa8c60a28bd138e4f6f014 episode44.json
|
| 43 |
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b9a1f57d7e534427fffc5958b78af0dce7be19af6a38b67c637e57fe00cb6d47 episode45.json
|
| 44 |
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3156694b830c907aa990041e9aa1e0ae3dce88057f68ec530cd50b9f77d61ee9 episode46.json
|
| 45 |
+
f522b57027ed8a0b06f7471da30e1ee1e3ccf20e63200708cd182caa9c79e54c episode47.json
|
| 46 |
+
6d839727fa0c913dfba325a2c981f0c24357ba8998f169d3d358da49160b0fa2 episode48.json
|
| 47 |
+
f438a19b44570e543bc4983a68de62cf625d0af626e8e711aa2a4e70d4e5f91e episode49.json
|
| 48 |
+
6983c8360866b547d9133c489102853a45b620098690342789a64fb666467605 episode5.json
|
| 49 |
+
d1a151104d8073aaad4819980ae47768e3c28b731bb18e3859ec142a868c9056 episode6.json
|
| 50 |
+
8ed846b7cdf8cfcaa1c89dfd4f6a5bd2bf28170d781a942830180e4cb429ceb5 episode7.json
|
| 51 |
+
6780c16a20250565bedf8c138f711a5908bace07305104cbeac56a60e4a0bc57 episode8.json
|
| 52 |
+
a7d3d1152068f1da8a37993f364aa7c1b9ec30fb68792efac8ec1ca32e6d155f episode9.json
|
| 53 |
+
f700f52d1f22b3d00667298989489b5c503dc3413eb7145a566a8c5d5fae63ea manifest.json
|
TRANSFER_RECEIPT.json
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"annotation_revision": "3af8b3026b544d4c7da4f56d85afdd7bca303b714f763d526f476bfc3ddff943",
|
| 3 |
+
"artifact": "robotwin2-put-object-cabinet-qwen-subtasks",
|
| 4 |
+
"created_at_utc": "2026-08-09T14:00:48.284808+00:00",
|
| 5 |
+
"destination_repo": "Shiki42/robotwin2-put-object-cabinet-qwen-subtasks",
|
| 6 |
+
"destination_repo_type": "dataset",
|
| 7 |
+
"payload_file_count": 53,
|
| 8 |
+
"payload_total_bytes": 221224,
|
| 9 |
+
"source_inventory_sha256": "a0e704663637558a624d71c52027f6d6479ff6ee56ace2308cdea35748e6e263",
|
| 10 |
+
"source_root": "/home/coder/share/pi05_runs/putcab-online-subtask-20260809-b-r1/transfer-staging/hf-public-qwen-subtasks-3af8b302"
|
| 11 |
+
}
|
episode0.json
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drawer_arm": "left",
|
| 3 |
+
"episode": 0,
|
| 4 |
+
"frame_count": 262,
|
| 5 |
+
"hdf5_sha256": "bb7b2fffed4ec90585a9877794f468418de7ab778330dc09a3c6d7450102f935",
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"arm_semantics": {
|
| 10 |
+
"left": "hold",
|
| 11 |
+
"right": "reach and grasp object"
|
| 12 |
+
},
|
| 13 |
+
"end": 63,
|
| 14 |
+
"stage_id": 0,
|
| 15 |
+
"stage_key": "object_reach_grasp",
|
| 16 |
+
"start": 0,
|
| 17 |
+
"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
+
},
|
| 19 |
+
{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
+
"left": "reach and open drawer",
|
| 22 |
+
"right": "hold object"
|
| 23 |
+
},
|
| 24 |
+
"end": 174,
|
| 25 |
+
"stage_id": 2,
|
| 26 |
+
"stage_key": "drawer_reach_open",
|
| 27 |
+
"start": 63,
|
| 28 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold drawer open",
|
| 33 |
+
"right": "insert and place object"
|
| 34 |
+
},
|
| 35 |
+
"end": 262,
|
| 36 |
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"stage_id": 3,
|
| 37 |
+
"stage_key": "joint_insert_place",
|
| 38 |
+
"start": 174,
|
| 39 |
+
"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode0.json",
|
| 43 |
+
"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
|
| 44 |
+
"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
|
| 45 |
+
"source_annotation_sha256": "20f0fb70a571db15bd9bddac2b8c0f92a0a04d678fc5b0b26794f284dcd54dc3",
|
| 46 |
+
"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode0.hdf5",
|
| 47 |
+
"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode0.mp4",
|
| 48 |
+
"split": "train",
|
| 49 |
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"video_sha256": "6bcc507bdfc13d5fcad56fde61d7d926e7498191034dacc86c4e738979ed464e"
|
| 50 |
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|
episode1.json
ADDED
|
@@ -0,0 +1,50 @@
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drawer_arm": "left",
|
| 3 |
+
"episode": 1,
|
| 4 |
+
"frame_count": 275,
|
| 5 |
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"hdf5_sha256": "8008d67314be556d60a5e89e19f1655cb528722063e1e7279342df18b4cd642f",
|
| 6 |
+
"object_arm": "right",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"arm_semantics": {
|
| 10 |
+
"left": "hold",
|
| 11 |
+
"right": "reach and grasp object"
|
| 12 |
+
},
|
| 13 |
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"end": 66,
|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
+
"start": 0,
|
| 17 |
+
"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
+
},
|
| 19 |
+
{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
+
"left": "reach and open drawer",
|
| 22 |
+
"right": "hold object"
|
| 23 |
+
},
|
| 24 |
+
"end": 177,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 29 |
+
},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold drawer open",
|
| 33 |
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"right": "insert and place object"
|
| 34 |
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},
|
| 35 |
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"end": 275,
|
| 36 |
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"stage_id": 3,
|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 177,
|
| 39 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode1.json",
|
| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 45 |
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"source_annotation_sha256": "028d57b3bb2f1b4b09f88176f67f8bb1af11a968b426aa4013cf1f082f6d2689",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode1.hdf5",
|
| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode1.mp4",
|
| 48 |
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"split": "train",
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| 49 |
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"video_sha256": "de1813bafb69fee48493809466ff4023db0229aaa0ee81c09c63adc63a35f36f"
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| 50 |
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|
episode10.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drawer_arm": "right",
|
| 3 |
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"episode": 10,
|
| 4 |
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"frame_count": 278,
|
| 5 |
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"hdf5_sha256": "1dcd04a1a009e9e88092101203db2e16cfb7580b901f8ab60e37700d796e8185",
|
| 6 |
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"object_arm": "left",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
+
},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 183,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "insert and place object",
|
| 33 |
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"right": "hold drawer open"
|
| 34 |
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},
|
| 35 |
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"end": 278,
|
| 36 |
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"stage_id": 3,
|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 183,
|
| 39 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode10.json",
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| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_annotation_sha256": "8cefd1cad618e5481c2bc0b503dc721fdb0c0c9325220156b01f5864fa180f95",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode10.hdf5",
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| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode10.mp4",
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| 48 |
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"split": "train",
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| 50 |
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|
episode11.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
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|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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| 6 |
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"object_arm": "left",
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| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
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| 33 |
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| 34 |
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| 35 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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}
|
| 41 |
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],
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| 42 |
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episode12.json
ADDED
|
@@ -0,0 +1,50 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 6 |
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| 7 |
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| 8 |
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| 11 |
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| 12 |
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|
| 15 |
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| 16 |
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|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "hold object",
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| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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{
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| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
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|
| 37 |
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| 38 |
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|
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| 40 |
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|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode12.json",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode12.mp4",
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episode13.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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|
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|
| 14 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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{
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| 20 |
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| 21 |
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"right": "reach and open drawer"
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| 23 |
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|
| 24 |
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"end": 66,
|
| 25 |
+
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|
| 26 |
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|
| 27 |
+
"start": 63,
|
| 28 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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},
|
| 35 |
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|
| 36 |
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|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
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"start": 66,
|
| 39 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
+
"arm_semantics": {
|
| 43 |
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"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
|
| 45 |
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|
| 46 |
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|
| 47 |
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"stage_id": 3,
|
| 48 |
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"stage_key": "joint_insert_place",
|
| 49 |
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"start": 174,
|
| 50 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 51 |
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}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode13.json",
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| 54 |
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode13.hdf5",
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| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode13.mp4",
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| 59 |
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"split": "train",
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| 61 |
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episode14.json
ADDED
|
@@ -0,0 +1,50 @@
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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"object_arm": "right",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "hold",
|
| 11 |
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"right": "reach and grasp object"
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "reach and open drawer",
|
| 22 |
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"right": "hold object"
|
| 23 |
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},
|
| 24 |
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"end": 177,
|
| 25 |
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|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "hold drawer open",
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| 33 |
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"right": "insert and place object"
|
| 34 |
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},
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| 35 |
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|
| 36 |
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|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 177,
|
| 39 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode14.json",
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode14.mp4",
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episode15.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 3 |
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| 7 |
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| 8 |
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| 10 |
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| 11 |
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| 12 |
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| 15 |
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| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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{
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| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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| 30 |
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{
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| 31 |
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|
| 32 |
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| 34 |
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| 35 |
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| 38 |
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| 39 |
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|
| 40 |
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| 42 |
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| 51 |
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}
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],
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| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode15.json",
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episode16.json
ADDED
|
@@ -0,0 +1,61 @@
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{
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| 18 |
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episode17.json
ADDED
|
@@ -0,0 +1,50 @@
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| 36 |
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"stage_id": 3,
|
| 37 |
+
"stage_key": "joint_insert_place",
|
| 38 |
+
"start": 177,
|
| 39 |
+
"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
+
}
|
| 41 |
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],
|
| 42 |
+
"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode17.json",
|
| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 45 |
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"source_annotation_sha256": "09461f1aec4769835ea8deac529a7d7ff51985dd82b78a188a380db4d4300801",
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| 46 |
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode17.hdf5",
|
| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode17.mp4",
|
| 48 |
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"split": "train",
|
| 49 |
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"video_sha256": "d15748de9a354187daa3f86fce280014f400d427bc0b06ca678edcccf5b38aa3"
|
| 50 |
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episode18.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"drawer_arm": "left",
|
| 3 |
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"episode": 18,
|
| 4 |
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"frame_count": 259,
|
| 5 |
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"hdf5_sha256": "4a1846110a400dbd1654e22264eed3950d5ee447a256a32ef1877d0064dae9b9",
|
| 6 |
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"object_arm": "right",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
+
"arm_semantics": {
|
| 10 |
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"left": "hold",
|
| 11 |
+
"right": "reach and grasp object"
|
| 12 |
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},
|
| 13 |
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"end": 63,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
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"left": "reach and open drawer",
|
| 22 |
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"right": "hold object"
|
| 23 |
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},
|
| 24 |
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"end": 174,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 63,
|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
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"left": "hold drawer open",
|
| 33 |
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"right": "insert and place object"
|
| 34 |
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},
|
| 35 |
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"end": 259,
|
| 36 |
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"stage_id": 3,
|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 174,
|
| 39 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
+
}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode18.json",
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| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 45 |
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"source_annotation_sha256": "72d8fff153d880207be39ca106923836cbdd20f9215aa73ba5f902b7bb0aecf4",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode18.hdf5",
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| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode18.mp4",
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| 48 |
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| 50 |
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episode19.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
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|
|
|
|
|
|
|
|
|
| 1 |
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{
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| 2 |
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"drawer_arm": "right",
|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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"object_arm": "left",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 177,
|
| 25 |
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|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
|
| 33 |
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"right": "hold drawer open"
|
| 34 |
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},
|
| 35 |
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|
| 36 |
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|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 177,
|
| 39 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode19.json",
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| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode19.hdf5",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode19.mp4",
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| 50 |
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episode2.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "reach and open drawer",
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| 38 |
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|
| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 40 |
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},
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| 41 |
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| 42 |
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| 51 |
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}
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| 52 |
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| 53 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode2.mp4",
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episode20.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
|
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|
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|
|
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|
| 1 |
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{
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| 2 |
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"drawer_arm": "right",
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| 3 |
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| 4 |
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| 8 |
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| 11 |
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|
| 12 |
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| 14 |
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|
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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{
|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 28 |
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| 29 |
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| 30 |
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{
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| 31 |
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|
| 32 |
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"left": "hold object",
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| 33 |
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|
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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| 41 |
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{
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| 42 |
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"left": "insert and place object",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode20.mp4",
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| 59 |
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"split": "train",
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| 60 |
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"video_sha256": "7b6bc7e67ad1f45d73d644615074ddf5e3965201e71e70e29d5b3faecd89da68"
|
| 61 |
+
}
|
episode21.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"drawer_arm": "right",
|
| 3 |
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|
| 4 |
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| 5 |
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|
| 6 |
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|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
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"left": "reach and grasp object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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},
|
| 35 |
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"end": 183,
|
| 36 |
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"stage_id": 2,
|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
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"start": 69,
|
| 39 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
+
"arm_semantics": {
|
| 43 |
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"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"start": 183,
|
| 50 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 51 |
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}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode21.json",
|
| 54 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 55 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode21.hdf5",
|
| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode21.mp4",
|
| 59 |
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"split": "train",
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| 60 |
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| 61 |
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|
episode22.json
ADDED
|
@@ -0,0 +1,50 @@
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"drawer_arm": "right",
|
| 3 |
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|
| 4 |
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| 5 |
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"hdf5_sha256": "0c3654a80690aa6561dfe67dd90559d6fa1437e6d0daa81248cc6b31ea3b1263",
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| 6 |
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"object_arm": "left",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 177,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
|
| 33 |
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"right": "hold drawer open"
|
| 34 |
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},
|
| 35 |
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|
| 36 |
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"stage_id": 3,
|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 177,
|
| 39 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode22.json",
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| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode22.hdf5",
|
| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode22.mp4",
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| 48 |
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"split": "train",
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"video_sha256": "147dc24c2e41e922881d3a24d18d7f585113319df48ba4f28c23ee760af8fa77"
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| 50 |
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}
|
episode23.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
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|
|
| 1 |
+
{
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| 11 |
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| 18 |
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| 19 |
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| 21 |
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| 22 |
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| 28 |
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| 29 |
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{
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| 32 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
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| 40 |
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},
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"left": "hold drawer open",
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| 51 |
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}
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],
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| 53 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode23.mp4",
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episode24.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
|
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|
|
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|
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|
| 1 |
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{
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| 3 |
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| 10 |
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| 11 |
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| 12 |
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| 17 |
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|
| 18 |
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},
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| 19 |
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{
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| 20 |
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|
| 21 |
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| 22 |
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| 29 |
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| 30 |
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{
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|
| 32 |
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| 40 |
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}
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode24.mp4",
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| 59 |
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"split": "heldout",
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| 61 |
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|
episode25.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 29 |
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|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "reach and open drawer",
|
| 33 |
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"right": "hold object"
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
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"arm_semantics": {
|
| 43 |
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"left": "hold drawer open",
|
| 44 |
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"right": "insert and place object"
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"start": 174,
|
| 50 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 51 |
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}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode25.json",
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| 54 |
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| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode25.mp4",
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| 61 |
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episode26.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
| 1 |
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{
|
| 2 |
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"drawer_arm": "right",
|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "reach and grasp object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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"stage_key": "parallel_grasp_open",
|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"start": 69,
|
| 39 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
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"arm_semantics": {
|
| 43 |
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"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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}
|
| 52 |
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|
| 53 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode26.mp4",
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| 61 |
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episode27.json
ADDED
|
@@ -0,0 +1,50 @@
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|
| 1 |
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{
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| 3 |
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| 6 |
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"object_arm": "left",
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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"left": "hold object",
|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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},
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| 30 |
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| 31 |
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| 32 |
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"left": "insert and place object",
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode27.json",
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| 43 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode27.mp4",
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| 50 |
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episode28.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
| 1 |
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{
|
| 2 |
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"drawer_arm": "left",
|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "reach and open drawer",
|
| 33 |
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"right": "hold object"
|
| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
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"arm_semantics": {
|
| 43 |
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"left": "hold drawer open",
|
| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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}
|
| 52 |
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],
|
| 53 |
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| 54 |
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|
| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode28.mp4",
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| 59 |
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"split": "train",
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| 60 |
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| 61 |
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|
episode29.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
|
|
|
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|
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|
|
| 1 |
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| 3 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"left": "insert and place object",
|
| 44 |
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|
| 45 |
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| 46 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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episode3.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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| 3 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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{
|
| 31 |
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|
| 32 |
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"left": "hold object",
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| 33 |
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| 34 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 49 |
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| 50 |
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| 51 |
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episode30.json
ADDED
|
@@ -0,0 +1,50 @@
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| 1 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 29 |
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| 30 |
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| 31 |
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| 40 |
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episode31.json
ADDED
|
@@ -0,0 +1,50 @@
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|
| 1 |
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{
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| 18 |
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episode32.json
ADDED
|
@@ -0,0 +1,50 @@
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{
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|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
+
},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
+
"left": "reach and open drawer",
|
| 22 |
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"right": "hold object"
|
| 23 |
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},
|
| 24 |
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"end": 180,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold drawer open",
|
| 33 |
+
"right": "insert and place object"
|
| 34 |
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},
|
| 35 |
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"end": 269,
|
| 36 |
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"stage_id": 3,
|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 180,
|
| 39 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode32.json",
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| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 45 |
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode32.hdf5",
|
| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode32.mp4",
|
| 48 |
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"split": "train",
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| 49 |
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"video_sha256": "b35d27427174ad3c8b2da57aa521f4500ec97c7f9fc4059ae558e43612190b87"
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| 50 |
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episode33.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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"object_arm": "left",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 177,
|
| 25 |
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|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 66,
|
| 28 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
|
| 33 |
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"right": "hold drawer open"
|
| 34 |
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},
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| 35 |
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|
| 36 |
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|
| 37 |
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"stage_key": "joint_insert_place",
|
| 38 |
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"start": 177,
|
| 39 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode33.json",
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode33.mp4",
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| 50 |
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episode34.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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|
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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|
| 21 |
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"left": "reach and open drawer",
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "reach and open drawer",
|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
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| 40 |
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},
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| 41 |
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| 42 |
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"arm_semantics": {
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| 43 |
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"left": "hold drawer open",
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| 44 |
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| 45 |
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| 48 |
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| 49 |
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|
| 50 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
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| 51 |
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}
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| 52 |
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],
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| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode34.json",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode34.mp4",
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| 61 |
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episode35.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 3 |
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| 11 |
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| 12 |
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| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 32 |
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| 40 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode35.mp4",
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episode36.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 11 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 24 |
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| 28 |
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| 29 |
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|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "reach and open drawer",
|
| 33 |
+
"right": "hold object"
|
| 34 |
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},
|
| 35 |
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"end": 174,
|
| 36 |
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"stage_id": 2,
|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
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"start": 66,
|
| 39 |
+
"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
+
"arm_semantics": {
|
| 43 |
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"left": "hold drawer open",
|
| 44 |
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"right": "insert and place object"
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"stage_key": "joint_insert_place",
|
| 49 |
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"start": 174,
|
| 50 |
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"subtask_text": "Left arm: hold drawer open; Right arm: insert and place object."
|
| 51 |
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}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode36.json",
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| 54 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode36.hdf5",
|
| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode36.mp4",
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| 59 |
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"split": "train",
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| 60 |
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| 61 |
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episode37.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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| 3 |
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| 7 |
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| 8 |
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{
|
| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "reach and grasp object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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"stage_key": "parallel_grasp_open",
|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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},
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| 35 |
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|
| 36 |
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|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
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"start": 69,
|
| 39 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
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"arm_semantics": {
|
| 43 |
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"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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"start": 177,
|
| 50 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 51 |
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}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode37.json",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode37.mp4",
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episode38.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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{
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| 3 |
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| 11 |
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| 12 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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{
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| 31 |
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| 32 |
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| 38 |
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| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
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| 40 |
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},
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| 41 |
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| 42 |
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"left": "hold drawer open",
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| 44 |
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| 49 |
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| 50 |
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| 51 |
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}
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| 52 |
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],
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| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode38.json",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode38.mp4",
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episode39.json
ADDED
|
@@ -0,0 +1,61 @@
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| 18 |
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episode4.json
ADDED
|
@@ -0,0 +1,50 @@
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| 16 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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|
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"start": 66,
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| 28 |
+
"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "insert and place object",
|
| 33 |
+
"right": "hold drawer open"
|
| 34 |
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},
|
| 35 |
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"end": 262,
|
| 36 |
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"stage_id": 3,
|
| 37 |
+
"stage_key": "joint_insert_place",
|
| 38 |
+
"start": 174,
|
| 39 |
+
"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode4.json",
|
| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode4.mp4",
|
| 48 |
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"split": "heldout",
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| 50 |
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episode40.json
ADDED
|
@@ -0,0 +1,61 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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"object_arm": "left",
|
| 7 |
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|
| 8 |
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{
|
| 9 |
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|
| 10 |
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|
| 11 |
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"right": "hold"
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "reach and grasp object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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|
| 42 |
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"arm_semantics": {
|
| 43 |
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"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
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| 45 |
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode40.mp4",
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episode41.json
ADDED
|
@@ -0,0 +1,50 @@
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|
|
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 7 |
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"segments": [
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| 8 |
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| 9 |
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| 10 |
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"left": "reach and grasp object",
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| 11 |
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| 12 |
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|
| 16 |
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| 17 |
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| 18 |
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| 19 |
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{
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| 20 |
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|
| 21 |
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"left": "hold object",
|
| 22 |
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| 23 |
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| 24 |
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| 27 |
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| 28 |
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| 29 |
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| 31 |
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| 32 |
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| 38 |
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| 40 |
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| 42 |
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episode42.json
ADDED
|
@@ -0,0 +1,50 @@
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| 1 |
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{
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| 29 |
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episode43.json
ADDED
|
@@ -0,0 +1,50 @@
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| 18 |
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| 19 |
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| 22 |
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],
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| 42 |
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episode44.json
ADDED
|
@@ -0,0 +1,50 @@
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|
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|
|
| 1 |
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| 3 |
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| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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episode45.json
ADDED
|
@@ -0,0 +1,50 @@
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|
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|
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "hold object",
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "insert and place object",
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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}
|
| 41 |
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],
|
| 42 |
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episode46.json
ADDED
|
@@ -0,0 +1,61 @@
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| 1 |
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| 11 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 28 |
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| 29 |
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| 31 |
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|
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| 40 |
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| 51 |
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| 52 |
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| 53 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode46.mp4",
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episode47.json
ADDED
|
@@ -0,0 +1,61 @@
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|
| 1 |
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| 11 |
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| 18 |
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| 19 |
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| 32 |
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| 40 |
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episode48.json
ADDED
|
@@ -0,0 +1,50 @@
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| 1 |
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|
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|
| 6 |
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|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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|
| 13 |
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"end": 63,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
+
"start": 0,
|
| 17 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
+
},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
+
"left": "hold object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 174,
|
| 25 |
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"stage_id": 2,
|
| 26 |
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"stage_key": "drawer_reach_open",
|
| 27 |
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"start": 63,
|
| 28 |
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"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "insert and place object",
|
| 33 |
+
"right": "hold drawer open"
|
| 34 |
+
},
|
| 35 |
+
"end": 263,
|
| 36 |
+
"stage_id": 3,
|
| 37 |
+
"stage_key": "joint_insert_place",
|
| 38 |
+
"start": 174,
|
| 39 |
+
"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode48.json",
|
| 43 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 44 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 45 |
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"source_annotation_sha256": "75d983ca1d3ec5311dfc780aa538581957d485c902231d8cb8bfb0e997064491",
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| 46 |
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode48.hdf5",
|
| 47 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode48.mp4",
|
| 48 |
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"split": "train",
|
| 49 |
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"video_sha256": "c9cc2703814f0053006858b93a34fa6adfdc2fc78309c33224f96a283287192e"
|
| 50 |
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}
|
episode49.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"drawer_arm": "right",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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"object_arm": "left",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "reach and grasp object",
|
| 11 |
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"right": "hold"
|
| 12 |
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},
|
| 13 |
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"end": 66,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: reach and grasp object; Right arm: hold."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
+
"arm_semantics": {
|
| 21 |
+
"left": "reach and grasp object",
|
| 22 |
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"right": "reach and open drawer"
|
| 23 |
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},
|
| 24 |
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"end": 69,
|
| 25 |
+
"stage_id": 1,
|
| 26 |
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"stage_key": "parallel_grasp_open",
|
| 27 |
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"start": 66,
|
| 28 |
+
"subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
|
| 29 |
+
},
|
| 30 |
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{
|
| 31 |
+
"arm_semantics": {
|
| 32 |
+
"left": "hold object",
|
| 33 |
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"right": "reach and open drawer"
|
| 34 |
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},
|
| 35 |
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"end": 180,
|
| 36 |
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"stage_id": 2,
|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
+
"start": 69,
|
| 39 |
+
"subtask_text": "Left arm: hold object; Right arm: reach and open drawer."
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
+
"arm_semantics": {
|
| 43 |
+
"left": "insert and place object",
|
| 44 |
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"right": "hold drawer open"
|
| 45 |
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},
|
| 46 |
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"end": 270,
|
| 47 |
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"stage_id": 3,
|
| 48 |
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"stage_key": "joint_insert_place",
|
| 49 |
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"start": 180,
|
| 50 |
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"subtask_text": "Left arm: insert and place object; Right arm: hold drawer open."
|
| 51 |
+
}
|
| 52 |
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],
|
| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode49.json",
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| 54 |
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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| 55 |
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"source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback",
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| 56 |
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"source_annotation_sha256": "8361dd3f1ad51ac470d99c1ad9daddecc0d863c33060ab6cb6e20aa4cd3c7e67",
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| 57 |
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode49.hdf5",
|
| 58 |
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode49.mp4",
|
| 59 |
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"split": "heldout",
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| 60 |
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| 61 |
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|
episode5.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"drawer_arm": "left",
|
| 3 |
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"episode": 5,
|
| 4 |
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"frame_count": 269,
|
| 5 |
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"hdf5_sha256": "74ec77419b21cafc52c2eebe71e286cfa21169bbcca03933d89d853aa9dc1982",
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| 6 |
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"object_arm": "right",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"arm_semantics": {
|
| 10 |
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"left": "hold",
|
| 11 |
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"right": "reach and grasp object"
|
| 12 |
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},
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| 13 |
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"end": 63,
|
| 14 |
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"stage_id": 0,
|
| 15 |
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"stage_key": "object_reach_grasp",
|
| 16 |
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"start": 0,
|
| 17 |
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"subtask_text": "Left arm: hold; Right arm: reach and grasp object."
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"arm_semantics": {
|
| 21 |
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"left": "reach and open drawer",
|
| 22 |
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"right": "reach and grasp object"
|
| 23 |
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},
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| 24 |
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"end": 66,
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| 25 |
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"stage_id": 1,
|
| 26 |
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"stage_key": "parallel_grasp_open",
|
| 27 |
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"start": 63,
|
| 28 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"arm_semantics": {
|
| 32 |
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"left": "reach and open drawer",
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| 33 |
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"right": "hold object"
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| 34 |
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},
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| 35 |
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"end": 177,
|
| 36 |
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"stage_id": 2,
|
| 37 |
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"stage_key": "drawer_reach_open",
|
| 38 |
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"start": 66,
|
| 39 |
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"subtask_text": "Left arm: reach and open drawer; Right arm: hold object."
|
| 40 |
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},
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| 41 |
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{
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| 42 |
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"arm_semantics": {
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| 43 |
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"left": "hold drawer open",
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| 44 |
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| 45 |
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| 49 |
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| 51 |
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}
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],
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| 53 |
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"source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode5.json",
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"source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct",
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"source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode5.hdf5",
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"source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode5.mp4",
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"split": "train",
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