episode_index int32 | frame_index int32 | task string | ratio float32 | conf float32 | fixed int8 | A int8 | B int8 | C int8 | D int8 | E int8 | grip_transition float32 | precise_hold float32 | guard float32 | eg_A float32 | eg_B float32 | eg_C float32 | eg_D float32 | eg_E float32 | gp_A list | gp_B list | gp_C list | gp_D list | gp_E list | contact_valid int8 | contact_guard int8 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | long/4 | 1.5 | 0.381784 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7344 | 1.734273 | 1.1319 | 2.1796 | 1.2004 | [
0.11640000343322754,
0.2793000042438507,
0.40630000829696655,
0.14949999749660492,
0.048500001430511475
] | [
0.4918491840362549,
0.3380337953567505,
0.12431243062019348,
0.035603560507297516,
0.010201020166277885
] | [
0.8903999924659729,
0.09380000084638596,
0.00989999994635582,
0.0052999998442828655,
0.0006000000284984708
] | [
0.41019999980926514,
0.21960000693798065,
0.19380000233650208,
0.133200004696846,
0.04320000112056732
] | [
0.833299994468689,
0.14480000734329224,
0.011900000274181366,
0.008200000040233135,
0.0017999999690800905
] | 1 | 0 |
0 | 1 | long/4 | 1.5 | 0.383963 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.722372 | 1.779378 | 1.1618 | 2.215878 | 1.2032 | [
0.11151114851236343,
0.30323031544685364,
0.3893389403820038,
0.14321431517601013,
0.05270526930689812
] | [
0.4606460630893707,
0.3587358593940735,
0.132013201713562,
0.037803780287504196,
0.01080107968300581
] | [
0.8647000193595886,
0.11699999868869781,
0.010900000110268593,
0.006599999964237213,
0.0007999999797903001
] | [
0.3976602256298065,
0.21287871897220612,
0.21287871897220612,
0.12908709049224854,
0.04749524965882301
] | [
0.8320000171661377,
0.1446000039577484,
0.013399999588727951,
0.008200000040233135,
0.0017999999690800905
] | 1 | 0 |
0 | 2 | long/4 | 1.5 | 0.377945 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.773123 | 1.7495 | 1.1323 | 2.1901 | 1.1827 | [
0.10348965227603912,
0.28127187490463257,
0.4092590808868408,
0.15058493614196777,
0.05539445951581001
] | [
0.4887999892234802,
0.335999995470047,
0.12359999865293503,
0.04010000079870224,
0.011500000022351742
] | [
0.8902999758720398,
0.09380000084638596,
0.00989999994635582,
0.0052999998442828655,
0.000699999975040555
] | [
0.39640000462532043,
0.24040000140666962,
0.18719999492168427,
0.12870000302791595,
0.04729999974370003
] | [
0.848800003528595,
0.13019999861717224,
0.01209999993443489,
0.007300000172108412,
0.0015999999595806003
] | 1 | 0 |
0 | 3 | long/4 | 1.5 | 0.382218 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7129 | 1.734273 | 1.138614 | 2.1306 | 1.1968 | [
0.12370000034570694,
0.29670000076293945,
0.38100001215934753,
0.14020000398159027,
0.058400001376867294
] | [
0.4918491840362549,
0.3380337953567505,
0.12431243062019348,
0.035603560507297516,
0.010201020166277885
] | [
0.8809881210327148,
0.10521052032709122,
0.00860085990279913,
0.004600460175424814,
0.0006000599823892117
] | [
0.42660000920295715,
0.22840000689029694,
0.1777999997138977,
0.12219999730587006,
0.04500000178813934
] | [
0.8342999815940857,
0.14499999582767487,
0.011900000274181366,
0.007199999876320362,
0.0015999999595806003
] | 1 | 0 |
0 | 4 | long/4 | 1.5 | 0.378338 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7366 | 1.745325 | 1.1157 | 2.115388 | 1.2185 | [
0.12139999866485596,
0.2912999987602234,
0.37400001287460327,
0.1559000015258789,
0.05739999935030937
] | [
0.4894510507583618,
0.33636635541915894,
0.12378761917352676,
0.04019597917795181,
0.010198979638516903
] | [
0.902999997138977,
0.08399999886751175,
0.007799999788403511,
0.004699999932199717,
0.0005000000237487257
] | [
0.42885711789131165,
0.22957704961299896,
0.178782120347023,
0.12288770824670792,
0.03989601135253906
] | [
0.8166999816894531,
0.1607999950647354,
0.011599999852478504,
0.009100000374019146,
0.0017999999690800905
] | 1 | 0 |
0 | 5 | long/4 | 1.5 | 0.381734 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.69707 | 1.745325 | 1.1279 | 2.115388 | 1.196 | [
0.1245124489068985,
0.2988298833370209,
0.3836383521556854,
0.14111411571502686,
0.05190518870949745
] | [
0.4894510507583618,
0.33636635541915894,
0.12378761917352676,
0.04019597917795181,
0.010198979638516903
] | [
0.8920000195503235,
0.09399999678134918,
0.008700000122189522,
0.004699999932199717,
0.0006000000284984708
] | [
0.42885711789131165,
0.22957704961299896,
0.178782120347023,
0.12288770824670792,
0.03989601135253906
] | [
0.8345000147819519,
0.14499999582767487,
0.011900000274181366,
0.007199999876320362,
0.00139999995008111
] | 1 | 0 |
0 | 6 | long/4 | 1.5 | 0.380566 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7626 | 1.7495 | 1.149615 | 2.1957 | 1.2004 | [
0.1256999969482422,
0.2662000060081482,
0.3873000144958496,
0.16140000522136688,
0.05939999967813492
] | [
0.4887999892234802,
0.335999995470047,
0.12359999865293503,
0.04010000079870224,
0.011500000022351742
] | [
0.8768876791000366,
0.10471047461032867,
0.011001099832355976,
0.006700669880956411,
0.0007000699988566339
] | [
0.40790000557899475,
0.218299999833107,
0.19269999861717224,
0.1324000060558319,
0.048700001090765
] | [
0.833299994468689,
0.14480000734329224,
0.011900000274181366,
0.008200000040233135,
0.0017999999690800905
] | 1 | 0 |
0 | 7 | long/4 | 1.5 | 0.3802 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7488 | 1.739426 | 1.147315 | 2.1507 | 1.189681 | [
0.11569999903440475,
0.2775000035762787,
0.40369999408721924,
0.148499995470047,
0.05460000038146973
] | [
0.5088491439819336,
0.3086691200733185,
0.12868712842464447,
0.041795819997787476,
0.011998800560832024
] | [
0.8775877356529236,
0.10481048375368118,
0.011001099832355976,
0.005900590214878321,
0.0007000699988566339
] | [
0.41670000553131104,
0.22310000658035278,
0.19689999520778656,
0.11940000206232071,
0.04390000179409981
] | [
0.8463153839111328,
0.12978702783584595,
0.013698630034923553,
0.008299170061945915,
0.001899810042232275
] | 1 | 0 |
0 | 8 | long/4 | 1.5 | 0.382611 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7268 | 1.702 | 1.1319 | 2.1626 | 1.1733 | [
0.1177000030875206,
0.2824000120162964,
0.4108999967575073,
0.13339999318122864,
0.05559999868273735
] | [
0.501800000667572,
0.3449000120162964,
0.1120000034570694,
0.032099999487400055,
0.009200000204145908
] | [
0.8903999924659729,
0.09380000084638596,
0.00989999994635582,
0.0052999998442828655,
0.0006000000284984708
] | [
0.4023999869823456,
0.24410000443458557,
0.19009999930858612,
0.1152999997138977,
0.04809999838471413
] | [
0.8604999780654907,
0.11649999767541885,
0.013899999670684338,
0.007400000002235174,
0.0017000000225380063
] | 1 | 0 |
0 | 9 | long/4 | 1.5 | 0.387404 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7129 | 1.69937 | 1.1522 | 2.213821 | 1.1936 | [
0.12370000034570694,
0.29670000076293945,
0.38100001215934753,
0.14020000398159027,
0.058400001376867294
] | [
0.5207520723342896,
0.31583157181739807,
0.11621162295341492,
0.03770377114415169,
0.009500949643552303
] | [
0.8761000037193298,
0.10459999740123749,
0.010999999940395355,
0.007600000128149986,
0.000699999975040555
] | [
0.405240535736084,
0.21692168712615967,
0.19141913950443268,
0.13161316514015198,
0.05480547994375229
] | [
0.8452000021934509,
0.12960000336170197,
0.013700000010430813,
0.009399999864399433,
0.002099999925121665
] | 1 | 0 |
0 | 10 | long/4 | 1.5 | 0.385114 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.6852 | 1.734273 | 1.131913 | 2.1673 | 1.193419 | [
0.1378999948501587,
0.29190000891685486,
0.3747999966144562,
0.1378999948501587,
0.057500001043081284
] | [
0.4918491840362549,
0.3380337953567505,
0.12431243062019348,
0.035603560507297516,
0.010201020166277885
] | [
0.8903890252113342,
0.09380938112735748,
0.009900989942252636,
0.005300530232489109,
0.0006000599823892117
] | [
0.41429999470710754,
0.22179999947547913,
0.195700004696846,
0.11869999766349792,
0.0494999997317791
] | [
0.8356835842132568,
0.1452145278453827,
0.010501050390303135,
0.007200720254331827,
0.0014001399977132678
] | 1 | 0 |
0 | 11 | long/4 | 1.5 | 0.388673 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7129 | 1.670967 | 1.170017 | 2.1673 | 1.2072 | [
0.12370000034570694,
0.29670000076293945,
0.38100001215934753,
0.14020000398159027,
0.058400001376867294
] | [
0.5303530097007751,
0.32163217663764954,
0.10441043972969055,
0.03390339016914368,
0.00970096979290247
] | [
0.8617861866950989,
0.11661165952682495,
0.012301229871809483,
0.008400839753448963,
0.0009000900317914784
] | [
0.41429999470710754,
0.22179999947547913,
0.195700004696846,
0.11869999766349792,
0.0494999997317791
] | [
0.8309000134468079,
0.1444000005722046,
0.013399999588727951,
0.009200000204145908,
0.002099999925121665
] | 1 | 0 |
0 | 12 | long/4 | 1.5 | 0.38215 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.69707 | 1.761276 | 1.149215 | 2.115388 | 1.1848 | [
0.1245124489068985,
0.2988298833370209,
0.3836383521556854,
0.14111411571502686,
0.05190518870949745
] | [
0.48624861240386963,
0.33423343300819397,
0.12291228771209717,
0.0452045202255249,
0.011401140131056309
] | [
0.8769876956939697,
0.10471047461032867,
0.011001099832355976,
0.006700669880956411,
0.0006000599823892117
] | [
0.42885711789131165,
0.22957704961299896,
0.178782120347023,
0.12288770824670792,
0.03989601135253906
] | [
0.8481000065803528,
0.13009999692440033,
0.01209999993443489,
0.008299999870359898,
0.00139999995008111
] | 1 | 0 |
0 | 13 | long/4 | 1.5 | 0.374786 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.722428 | 1.8206 | 1.139186 | 2.0759 | 1.158184 | [
0.12908709049224854,
0.27327266335487366,
0.3975602388381958,
0.14628536999225616,
0.05379461869597435
] | [
0.46639999747276306,
0.3206000030040741,
0.15139999985694885,
0.04919999837875366,
0.012400000356137753
] | [
0.887711226940155,
0.0935906395316124,
0.011198880150914192,
0.006799320224672556,
0.000699930009432137
] | [
0.4496000111103058,
0.21240000426769257,
0.1873999983072281,
0.1137000024318695,
0.03689999878406525
] | [
0.8740125894546509,
0.10438956320285797,
0.012498750351369381,
0.0075992401689291,
0.001499850070104003
] | 1 | 0 |
0 | 14 | long/4 | 1.5 | 0.365721 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.7713 | 1.6958 | 1.138214 | 1.7573 | 1.151585 | [
0.10840000212192535,
0.25999999046325684,
0.4287000000476837,
0.15770000219345093,
0.04520000144839287
] | [
0.5213000178337097,
0.31619998812675476,
0.11630000174045563,
0.03779999911785126,
0.00839999970048666
] | [
0.881088137626648,
0.10521052032709122,
0.00860085990279913,
0.004600460175424814,
0.0005000500241294503
] | [
0.5837000012397766,
0.18950000405311584,
0.13019999861717224,
0.07900000363588333,
0.01759999990463257
] | [
0.8685131669044495,
0.11758824437856674,
0.008499150164425373,
0.004599540028721094,
0.000799920002464205
] | 1 | 0 |
0 | 15 | long/4 | 1.5 | 0.359097 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.8096 | 1.777078 | 1.1256 | 1.79658 | 1.137514 | [
0.1054999977350235,
0.2531999945640564,
0.4174000024795532,
0.17399999499320984,
0.04989999905228615
] | [
0.47904789447784424,
0.32923293113708496,
0.13721372187137604,
0.04460446164011955,
0.009900989942252636
] | [
0.8930000066757202,
0.0940999984741211,
0.007699999958276749,
0.004699999932199717,
0.0005000000237487257
] | [
0.57475745677948,
0.1866186559200287,
0.1282128244638443,
0.08810880780220032,
0.022302230820059776
] | [
0.8816881775856018,
0.10531052947044373,
0.0076007600873708725,
0.004600460175424814,
0.0008000800153240561
] | 1 | 0 |
0 | 16 | long/4 | 1.5 | 0.353189 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.850415 | 1.752975 | 1.1106 | 1.725127 | 1.122512 | [
0.10248975455760956,
0.24587541818618774,
0.40525946021080017,
0.1914808452129364,
0.05489451065659523
] | [
0.4875487685203552,
0.33503350615501404,
0.12321232259273529,
0.04530452936887741,
0.008900890126824379
] | [
0.9050999879837036,
0.08420000225305557,
0.006099999882280827,
0.00419999985024333,
0.00039999998989515007
] | [
0.6077392101287842,
0.17408259212970734,
0.11968803405761719,
0.08229177445173264,
0.016198379918932915
] | [
0.8942894339561462,
0.09420941770076752,
0.0068006799556314945,
0.004100410267710686,
0.0006000599823892117
] | 1 | 0 |
0 | 17 | long/4 | 1.5 | 0.355202 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.8331 | 1.837216 | 1.1586 | 1.74 | 1.153285 | [
0.09939999878406525,
0.23829999566078186,
0.44530001282691956,
0.16380000114440918,
0.053199999034404755
] | [
0.44515547156333923,
0.34666532278060913,
0.14448554813861847,
0.05319467931985855,
0.010498950257897377
] | [
0.8659999966621399,
0.11720000207424164,
0.009600000455975533,
0.006599999964237213,
0.0006000000284984708
] | [
0.6050000190734863,
0.17329999804496765,
0.11909999698400497,
0.08190000057220459,
0.02070000022649765
] | [
0.8680132031440735,
0.11748825013637543,
0.008499150164425373,
0.00519947987049818,
0.000799920002464205
] | 1 | 0 |
0 | 18 | long/4 | 1.5 | 0.357362 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.8074 | 1.782778 | 1.146985 | 1.704 | 1.137914 | [
0.09629999846220016,
0.26179999113082886,
0.43160000443458557,
0.15880000591278076,
0.051500000059604645
] | [
0.4594459533691406,
0.3578357696533203,
0.13161316514015198,
0.0427042692899704,
0.008400839753448963
] | [
0.8780121803283691,
0.10488951206207275,
0.009799020364880562,
0.006699330173432827,
0.000599940016400069
] | [
0.6251999735832214,
0.15809999406337738,
0.12309999763965607,
0.0746999979019165,
0.01889999955892563
] | [
0.8812881112098694,
0.10521052032709122,
0.00860085990279913,
0.004100410267710686,
0.0008000800153240561
] | 1 | 0 |
0 | 19 | long/4 | 1.5 | 0.354653 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.819382 | 1.7719 | 1.115312 | 1.7029 | 1.133813 | [
0.10001000016927719,
0.23982398211956024,
0.4481448233127594,
0.1648164838552475,
0.047204721719026566
] | [
0.4616999924182892,
0.3596000075340271,
0.13230000436306,
0.03790000081062317,
0.008500000461935997
] | [
0.9030902981758118,
0.08400840312242508,
0.007800780236721039,
0.004700470250099897,
0.0004000400076620281
] | [
0.6136999726295471,
0.17579999566078186,
0.12080000340938568,
0.07329999655485153,
0.01640000008046627
] | [
0.8827883005142212,
0.10541053861379623,
0.0076007600873708725,
0.0036003601271659136,
0.0006000599823892117
] | 1 | 0 |
0 | 20 | long/4 | 1.5 | 0.359258 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.8074 | 1.749 | 1.1385 | 1.7099 | 1.167083 | [
0.09629999846220016,
0.26179999113082886,
0.43160000443458557,
0.15880000591278076,
0.051500000059604645
] | [
0.46950000524520874,
0.36570000648498535,
0.11869999766349792,
0.03849999979138374,
0.007600000128149986
] | [
0.8812999725341797,
0.10530000180006027,
0.007600000128149986,
0.005200000014156103,
0.0006000000284984708
] | [
0.6123999953269958,
0.1754000037908554,
0.12060000002384186,
0.0731000006198883,
0.01850000023841858
] | [
0.8541145920753479,
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] | 1 | 0 |
0 | 21 | long/4 | 1.5 | 0.355987 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.824 | 1.782778 | 1.131713 | 1.7329 | 1.137914 | [
0.10480000078678131,
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0 | 23 | long/4 | 1.5 | 0.358216 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.824 | 1.7271 | 1.1297 | 1.738074 | 1.124312 | [
0.10480000078678131,
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] | 1 | 0 |
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0.8805000185966492,
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0 | 25 | long/4 | 1.5 | 0.33795 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0 | 0 | 3.063706 | 1.933207 | 1.2184 | 1.7898 | 1.145615 | [
0.06500650197267532,
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0 | 26 | long/4 | 1.5 | 0.338469 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.0625 | 0 | 3.063706 | 1.879688 | 1.211921 | 1.763276 | 1.1217 | [
0.06500650197267532,
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] | 1 | 0 |
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0.066600002348423,
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] | 1 | 0 |
0 | 28 | long/4 | 1.5 | 0.301139 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.1875 | 0 | 3.516152 | 1.777422 | 1.146215 | 1.731173 | 1.1002 | [
0.03260326012969017,
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] | 1 | 0 |
0 | 29 | long/4 | 1.5 | 0.300358 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.25 | 0 | 3.534353 | 1.743326 | 1.1607 | 1.674567 | 1.1017 | [
0.0330033004283905,
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] | 1 | 0 |
0 | 30 | long/4 | 1.5 | 0.291964 | 0 | 4 | 1 | 1 | 1 | 1 | 0.9 | 0.3125 | 0 | 3.6032 | 1.672433 | 1.094791 | 1.6417 | 1.0757 | [
0.02419999986886978,
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] | 1 | 0 |
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0.026399999856948853,
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] | 1 | 0 |
0 | 32 | long/4 | 1.5 | 0.299634 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.4375 | 0 | 3.5761 | 1.772323 | 1.1627 | 1.788021 | 1.1017 | [
0.028599999845027924,
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] | 1 | 0 |
0 | 33 | long/4 | 1 | 0.304257 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.5 | 1 | 3.50545 | 1.871 | 1.181 | 1.8572 | 1.1002 | [
0.030103011056780815,
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] | 1 | 1 |
0 | 34 | long/4 | 1 | 0.311428 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.5625 | 1 | 3.429543 | 1.7919 | 1.168783 | 1.831 | 1.0692 | [
0.04200420156121254,
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] | 1 | 1 |
0 | 35 | long/4 | 1 | 0.317703 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.625 | 1 | 3.344765 | 1.777478 | 1.1684 | 1.7943 | 1.0742 | [
0.04529546946287155,
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] | 1 | 1 |
0 | 36 | long/4 | 1 | 0.315854 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.625 | 1 | 3.344765 | 1.772323 | 1.165983 | 1.739026 | 1.070993 | [
0.04529546946287155,
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0.4685531556606293,
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] | 1 | 1 |
0 | 37 | long/4 | 1 | 0.314901 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.625 | 1 | 3.321 | 1.7851 | 1.124312 | 1.7473 | 1.0806 | [
0.04699999839067459,
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] | 1 | 1 |
0 | 38 | long/4 | 1 | 0.362927 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.625 | 1 | 2.872013 | 1.7952 | 1.1682 | 2.0118 | 1.1217 | [
0.07149285078048706,
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0.41125887632369995,
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] | 1 | 1 |
0 | 39 | long/4 | 1 | 0.345551 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.625 | 1 | 3.010301 | 1.9421 | 1.209021 | 1.9458 | 1.1129 | [
0.06500650197267532,
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] | 1 | 1 |
0 | 40 | long/4 | 1 | 0.367041 | 1 | 3 | 1 | 1 | 1 | 1 | 0 | 0.625 | 1 | 2.783378 | 1.72 | 1.1468 | 1.8789 | 1.1018 | [
0.11391139030456543,
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] | 1 | 1 |
0 | 41 | long/4 | 1 | 0.360226 | 1 | 3 | 1 | 1 | 1 | 1 | 0 | 0.625 | 1 | 2.8348 | 1.70217 | 1.1315 | 1.8137 | 1.0881 | [
0.10530000180006027,
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0.000699999975040555
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0.09989999979734421,
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0.10320000350475311,
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0.10320000350475311,
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0.10700000077486038,
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0.09989999979734421,
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] | 1 | 1 |
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0.11479999870061874,
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0.11479999870061874,
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] | 1 | 0 |
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0.10320000350475311,
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0.11168882995843887,
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0.11479999870061874,
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0.12710000574588776,
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0 | 55 | long/4 | 1.5 | 0.364853 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.727427 | 1.743326 | 1.115688 | 1.722328 | 1.170383 | [
0.1416858285665512,
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] | 1 | 0 |
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0.09300000220537186,
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] | 1 | 0 |
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0.10090000182390213,
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] | 1 | 0 |
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0.09189999848604202,
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] | 1 | 0 |
0 | 59 | long/4 | 1.5 | 0.351429 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.979 | 1.790579 | 1.140514 | 1.936906 | 1.1675 | [
0.08959999680519104,
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] | 1 | 0 |
0 | 60 | long/4 | 1.5 | 0.356092 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 2.90271 | 1.745325 | 1.1297 | 1.8875 | 1.123712 | [
0.09999000281095505,
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] | 1 | 0 |
0 | 61 | long/4 | 1.5 | 0.349434 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 3 | 1.827783 | 1.1317 | 2.0147 | 1.141914 | [
0.08869113028049469,
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] | 1 | 0 |
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0.10291028767824173,
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] | 1 | 0 |
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0.09499049931764603,
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0.04870487004518509,
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0.04830000177025795,
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0.05190518870949745,
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] | 1 | 0 |
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0.05190518870949745,
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0.040699999779462814,
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] | 1 | 0 |
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0.045899998396635056,
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0 | 78 | long/4 | 1.5 | 0.305251 | 0 | 3 | 1 | 1 | 1 | 1 | 0 | 0.25 | 0 | 3.420242 | 1.6815 | 1.109089 | 1.5796 | 1.0862 | [
0.04350434988737106,
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] | 1 | 0 |
0 | 79 | long/4 | 1.5 | 0.31224 | 0 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.25 | 0 | 3.38 | 1.669733 | 1.137114 | 1.619638 | 1.088191 | [
0.04089999943971634,
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] | 1 | 0 |
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0.03799999877810478,
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] | 1 | 1 |
0 | 81 | long/4 | 1 | 0.351703 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.25 | 1 | 2.971903 | 1.867387 | 1.223422 | 1.9028 | 1.119912 | [
0.07769223302602768,
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] | 1 | 1 |
0 | 82 | long/4 | 1 | 0.348651 | 1 | 3 | 1 | 1 | 1 | 1 | 0.9 | 0.25 | 1 | 2.9713 | 1.892889 | 1.2284 | 1.8263 | 1.131 | [
0.0697999969124794,
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] | 1 | 1 |
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0.0905909389257431,
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] | 1 | 1 |
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0.08799120038747787,
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End of preview. Expand in Data Studio
LIBERO v2 ratio labels with contact and grade probabilities
학습 적용은 TRAINING_HANDOFF.md부터 읽으세요. 원본 kimtaey/libero_gr00t_delta에 얹는 라벨입니다. 원본 이미지/액션은 포함하지 않습니다. VLM 추론은 완료됐습니다.
다운로드와 적용
python -m pip install huggingface_hub numpy pandas pyarrow
python -c 'from huggingface_hub import snapshot_download; snapshot_download(repo_id="prehj/libero-ratio-labels-contact", repo_type="dataset", local_dir="libero-ratio-labels-contact")'
python libero-ratio-labels-contact/apply_to_dataset.py --dataset /path/to/libero_gr00t_delta --dry-run
python libero-ratio-labels-contact/apply_to_dataset.py --dataset /path/to/libero_gr00t_delta --out /path/to/libero_with_ratio
학습용 정본은 labels/libero_training.parquet입니다. 적용기가 기본으로 읽습니다. labels/libero.parquet는 기존 scalar schema 호환용이며 전체 확률이 없습니다. 기존 generic apply_ratio_labels.py 대신 이 저장소의 apply_to_dataset.py를 사용하세요. 원본을 덮어쓰지 않으며 numpy/pandas/pyarrow만 필요합니다. GPU는 필요 없습니다.
범위와 키
- 원본 1,693 에피소드 / 273,465 프레임 / 40태스크.
- stride1 라벨 266,693행, 누락·중복 없음.
- 키는 (episode_index, frame_index). frame_index는 에피소드 내 0-based입니다.
- 마지막4프레임씩 총6,772개는 미라벨이며 적용 후 ratio_valid=0입니다. 기본 ratio=1로 채워져도 fine 정답으로 학습시키면 안 됩니다.
- 적용 시 모든 에피소드의 지시문/길이/번호와 parquet 키를 대조합니다.
점수와 배속
Cosmos3-Nano로 LIBERO v2 문항 A–E의 정수 등급과 실제 생성 위치의 등급 확률을 저장했습니다. 모델 revision과 출처는 training_package.json에 있습니다.
| 필드 | 의미 |
|---|---|
| A..E | 생성된 정수 등급1..5 |
| gp_A..gp_E | 문항별 길이5의 등급 조건부 확률 |
| eg_A..eg_E | 기대등급 Σg·P(g); P(3)=.7, P(1)=.3이면2.4 |
| conf | 기대등급에서 만든 문항 점수 |
| ratio | 현재 규칙의 명목 배속1/1.5/2/2.5 |
| fixed | contact 또는 action proxy 규칙으로 배속1 고정 |
| contact_valid / contact_guard | 실제 contact 유효 여부 / 해당 guard |
z=(E[g]-1)/4, conf=(1+Σw·가점−Σw·감점)/2를 사용합니다. 부호·가중치는 checks/libero.py, 실제 문항은 prompts/libero.txt에 있습니다. 현재 ratio는 태스크별 범위 안에서 RATIO_RULE=levels로 conf를 배정한 결과입니다. 성공 확률이나 검증된 최적 배속 정답은 아니며 DexJoCo D1 규칙과도 다릅니다.
태스크별 배속은 VLM 재추론 없이 바꿀 수 있습니다. task, 문항 분포, 기대등급을 보존했습니다. 재계산한 (episode_index, frame_index, ratio) parquet를 --ratio-overrides로 적용하세요. 정확한 계약, hard/soft grade 차이, F-level class 연결은 전달 명세에 있습니다.
Contact 출처와 유효성
TTaekwan/libero_contact의 flevel_v2/sidecar를 사용합니다. 실제 contact가 유효하면 p_start != p_end 또는 p_bnd > 0.5에서 배속1로 고정합니다.
- 실제 contact 유효: 244,738행.
- 나머지 21,955행은 기존 action descriptor fallback을 사용했습니다.
- 최종 fixed=1: 56,468행(21.2%). 모두 실제 contact 측정인 것은 아닙니다.
파일과 검증
- labels/libero_training.parquet: 확률을 포함한 학습용 정본
- labels/libero.parquet: 기존 scalar 호환본
- apply_to_dataset.py: 독립 실행 가능한 검증/적용 스크립트
- TRAINING_HANDOFF.md: class, mask, grade, F-level 연결 설명
- episodes.jsonl / task_inventory.csv: 원본 지시문, 길이, 태스크 집계
- ceilings/libero.json / ladders.json: 현재 배속 범위와 기존 LIBERO 평가 근거
- prompts/libero.txt / checks/libero.py: 실제 문항과 부호/가중치
- training_package.json / validation.json: 출처, 통계, SHA256, 검증 결과
적용 후 ratio/grade carrier와 마스크, 확률, GR00T metadata가 추가됩니다. 학습 data config에서 carrier를 loss에 연결해야 하며 열 추가만으로 자동 학습되지는 않습니다. 검증은 전체1,693 에피소드 매칭, 실제2 에피소드 parquet 쓰기, 기존 action/state/image 보존, 확률/기대등급/마스크 및 carrier 통계 형태까지입니다. 새 학습 실행 smoke는 포함하지 않습니다.
배속 분포: 1×31.4%, 1.5×33.4%, 2×25.2%, 2.5×10.0%. 평균 명목 배속1.570이며 실제 episode 가속률 측정값은 아닙니다.
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