Upload DexSharpa node 1 batch 47/110

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+{"episode_index": 13, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1314}
+{"episode_index": 14, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1452}
+{"episode_index": 15, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1339}
+{"episode_index": 16, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1312}
+{"episode_index": 17, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1487}
+{"episode_index": 18, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1404}
+{"episode_index": 19, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1955}
+{"episode_index": 20, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1395}
+{"episode_index": 21, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1698}
+{"episode_index": 22, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1348}
+{"episode_index": 23, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1479}

nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/info.json

@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 24,
+    "total_frames": 36969,
+    "total_tasks": 1,
+    "total_videos": 144,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:24"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/modality.json

@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}

nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -0,0 +1,9 @@
+{"subtask_index": 0, "subtask": "Pick up the first cup from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the first cup onto the base cup. | Skill: insert"}
+{"subtask_index": 2, "subtask": "Pick up the second cup from the table. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the second cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Pick up the third cup from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Insert the third cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 6, "subtask": "Pick up the fourth cup from the table. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Insert the fourth cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 8, "subtask": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."}