diff --git a/track_1/README.md b/track_1/README.md index 6316e4c09491044af319412f20a99dc876fb941e..7cd54d19f6c8425d44e8c616a76f2b11da2efc6d 100644 --- a/track_1/README.md +++ b/track_1/README.md @@ -1,18 +1,18 @@ # Track 1 Video-only single-view human-object interaction sequences for object tracking. Track 1 -contains 37 retained episodes from the FORM-HOI multiview export. Each episode provides +contains 30 selected episodes from the FORM-HOI multiview recordings. Each episode provides one static third-person RGB video, its physical camera view, the target object identifier and prompt, and the original action description. | | | |---|---| -| Episodes | 37 | -| Frames | 25,856 (245–1034 per episode, mean 699) | +| Episodes | 30 | +| Frames | 16,563 (360–877 per episode, mean 552) | | Rate | 30 fps | -| Tasks | 33 original action descriptions | -| Cameras | 1 stream per episode, 37 clips, 4 distinct physical cameras | -| Target objects | 7 | +| Tasks | 22 original action descriptions | +| Cameras | 1 stream per episode, 30 clips, 4 distinct physical cameras | +| Target objects | 10 | ## Layout @@ -41,7 +41,7 @@ Each record in `meta/episodes_metadata.jsonl` contains only: The video path is determined from `meta/info.json` using `episode_index` and `video_key`. The `object` and `object_prompt` fields identify the object to track. The corresponding -action description is resolved through the episode's unchanged `task_index` and +action description is resolved through the episode's `task_index` and `meta/tasks.jsonl`. ## Video @@ -51,9 +51,9 @@ copies of the selected source videos and were not re-encoded. | Camera | Episodes | |---|---:| -| `back_stereo_camera_left` | 8 | +| `back_stereo_camera_left` | 5 | | `front_stereo_camera_left` | 9 | -| `left_stereo_camera_left` | 15 | +| `left_stereo_camera_left` | 11 | | `right_stereo_camera_left` | 5 | ## LeRobot v2.1 indexes @@ -70,3 +70,10 @@ frames with LeRobot episode and task metadata: No human pose, body reconstruction, object pose, visibility annotation, or object mesh is included in the current revision. + +Episode indexes follow the 30-sequence selection order. Each of the 10 target objects has three episodes. + +RGB statistics for retained videos are preserved. For new videos, channel statistics use +uniformly sampled frames (sample count `min(N, max(100, min(10000, floor(N**0.75))))`), +area-downsampled to 154×116 and normalized to [0, 1]. This downsampling is used only +for statistics; the distributed videos retain their original bytes and resolution. diff --git a/track_1/data/chunk-000/episode_000000.parquet b/track_1/data/chunk-000/episode_000000.parquet index 9e2973279e7604f12171741a851841e64e4a4f38..bd4f4df4e6c308c77b1bce03900c310457262501 100644 --- a/track_1/data/chunk-000/episode_000000.parquet +++ b/track_1/data/chunk-000/episode_000000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1ab9fa4864b48218e7f594eb0d5366b984425a81b58b49082db28b3215cf1fa1 -size 9676 +oid sha256:796291b55d912b894ab1e827b8e7653bb27caf5e1b5cf04da48ee5015f53f463 +size 14415 diff --git a/track_1/data/chunk-000/episode_000001.parquet b/track_1/data/chunk-000/episode_000001.parquet index eaa3dad65a25ab1d5bc79243fb18ce079e9be831..42754997a228f096bad107af39b9923a6bd43203 100644 --- a/track_1/data/chunk-000/episode_000001.parquet +++ b/track_1/data/chunk-000/episode_000001.parquet @@ -1,3 +1,3 @@ version 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sha256:92a13fd5bf58c6651351c7742cdd0557814a672ee0b43116ba364cfc6ad410ba -size 7290 diff --git a/track_1/data/chunk-000/episode_000033.parquet b/track_1/data/chunk-000/episode_000033.parquet deleted file mode 100644 index ba15e8d7582bf274e4524eb896b2ab9bc27be184..0000000000000000000000000000000000000000 --- a/track_1/data/chunk-000/episode_000033.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2a85f1c60e24d40db049025559d8326f474af3098fad22fd320a532ed08621b9 -size 10109 diff --git a/track_1/data/chunk-000/episode_000034.parquet b/track_1/data/chunk-000/episode_000034.parquet deleted file mode 100644 index fdd12dbe27da76535e4c8a815d6ecd4729254b3f..0000000000000000000000000000000000000000 --- a/track_1/data/chunk-000/episode_000034.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:415d064f680b2c6d02e6a321303345f226fa63d9e1bcf76a022ab191a8d4e239 -size 7561 diff --git a/track_1/data/chunk-000/episode_000035.parquet b/track_1/data/chunk-000/episode_000035.parquet deleted file mode 100644 index d1d857ad37e110580f34c252be48a3a5040105d6..0000000000000000000000000000000000000000 --- a/track_1/data/chunk-000/episode_000035.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4d36b47fb08125574ee925f717ef5a858cd3bc4b19ef5ff338e6ff3fa9fd91fc -size 10666 diff --git a/track_1/data/chunk-000/episode_000036.parquet b/track_1/data/chunk-000/episode_000036.parquet deleted file mode 100644 index 562bb78ba26d79724ab2e512750c0ccd036c3495..0000000000000000000000000000000000000000 --- a/track_1/data/chunk-000/episode_000036.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8c362965decd47d109e357faeb8c530e70eeec89ccdc067dafb66ee76ea85197 -size 4834 diff --git a/track_1/meta/episodes.jsonl b/track_1/meta/episodes.jsonl index efede11f08dd1ab722916817fef12026b4562492..f9b955051afc807a179b23cee1b483eb76494335 100644 --- a/track_1/meta/episodes.jsonl +++ b/track_1/meta/episodes.jsonl @@ -1,37 +1,30 @@ {"episode_index": 0, "length": 790, "tasks": ["Walk over to the hula hoop on the floor and step inside the hula hoop. Lift the hula hoop over your entire body and place back on the floor when done."]} {"episode_index": 1, "length": 668, "tasks": ["Walk over to the hula hoop on the floor and grasp it with your right hand keeping the hula hoop vertical. Pass your right foot through the hula hoop and then your head and torso while shifting the hula hoop from your right hand to the left hand. Finally step through the hula hoop using your left leg. Place the hula hoop on the floor."]} {"episode_index": 2, "length": 866, "tasks": ["Walk over to the hula hoop on the floor and pick up the hula hoop using both hands. Jump through the hula hoop as if it was a jump rope 3x."]} -{"episode_index": 3, "length": 860, "tasks": ["Walk over to the big red bowl on the ground and pick up the bowl using your left hand and place on the round table."]} -{"episode_index": 4, "length": 592, "tasks": ["Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."]} +{"episode_index": 3, "length": 592, "tasks": ["Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."]} +{"episode_index": 4, "length": 747, "tasks": ["Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."]} {"episode_index": 5, "length": 668, "tasks": ["Walk over to the big red bowl on the floor and pick up the red bowl using your right hand and then handover to your left hand and then place the big red bowl on the skinny wood chair. Step away when complete."]} -{"episode_index": 6, "length": 747, "tasks": ["Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."]} -{"episode_index": 7, "length": 941, "tasks": ["Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground infront of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."]} -{"episode_index": 8, "length": 723, "tasks": ["Walk over to the big red bowl on the round table and pick up the bowl using your left hand and place on the ground."]} -{"episode_index": 9, "length": 801, "tasks": ["Walk over to the iron on the skinny wood chair and using your left hand lift the iron and place the iron underneath the skinny wood chair."]} -{"episode_index": 10, "length": 730, "tasks": ["Walk over to the iron on the white desk and pull the iron towards you. Step away when complete."]} -{"episode_index": 11, "length": 634, "tasks": ["Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."]} -{"episode_index": 12, "length": 653, "tasks": ["Walk over to the iron on the white desk and rotate the iron on the table using right hand only. Step away when complete."]} -{"episode_index": 13, "length": 777, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."]} -{"episode_index": 14, "length": 245, "tasks": ["Walk over to the iron on the white desk and touch the iron. Step away when complete."]} -{"episode_index": 15, "length": 816, "tasks": ["Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."]} -{"episode_index": 16, "length": 897, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and roatate the iron as you walk within the bounding area. place on the ground Step away when complete."]} -{"episode_index": 17, "length": 664, "tasks": ["Walk over to the iron on the round table and pick it up with your left hand and set it down on the floor."]} -{"episode_index": 18, "length": 342, "tasks": ["Walk over to the iron on the white desk and push the iron away from you. Step away when complete."]} -{"episode_index": 19, "length": 378, "tasks": ["Walk to the white desk and crawl under it to the other end of the desk."]} -{"episode_index": 20, "length": 597, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} -{"episode_index": 21, "length": 906, "tasks": ["Walk around the desk while continuously wiping its surface with your hands."]} -{"episode_index": 22, "length": 577, "tasks": ["Walk to the white desk, use your left foot to push the desk."]} -{"episode_index": 23, "length": 577, "tasks": ["Walk the white desk and crawl under it to the other end of the desk."]} -{"episode_index": 24, "length": 720, "tasks": ["Walk to the white desk lying on its side. Place both hands on the tabletop and lift the desk back to its upright position."]} -{"episode_index": 25, "length": 606, "tasks": ["white desk right foot push."]} -{"episode_index": 26, "length": 966, "tasks": ["Walk a lap around the desk. Stop beside the desk, crouch down, and move underneath it."]} -{"episode_index": 27, "length": 763, "tasks": ["Walk to the white desk, use your right foot to push the desk."]} -{"episode_index": 28, "length": 833, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} -{"episode_index": 29, "length": 797, "tasks": ["Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."]} -{"episode_index": 30, "length": 415, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} -{"episode_index": 31, "length": 1034, "tasks": ["Walk around the desk while continuously wiping its surface with your hands."]} -{"episode_index": 32, "length": 559, "tasks": ["Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."]} -{"episode_index": 33, "length": 877, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} -{"episode_index": 34, "length": 588, "tasks": ["Walk over to the soup can on the white desk and grasp the soup can with one hand and flip on the white desk."]} -{"episode_index": 35, "length": 942, "tasks": ["Walk over to the disinfecting wipes on the round table using your right hand pick up the disinfecting wipes and walk within the bounding area and place on the ground."]} -{"episode_index": 36, "length": 307, "tasks": ["Walk over to the microwave on the round table and shift the microwave slightly to the left."]} +{"episode_index": 6, "length": 816, "tasks": ["Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."]} +{"episode_index": 7, "length": 777, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."]} +{"episode_index": 8, "length": 634, "tasks": ["Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."]} +{"episode_index": 9, "length": 415, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} +{"episode_index": 10, "length": 577, "tasks": ["Walk to the white desk, use your left foot to push the desk."]} +{"episode_index": 11, "length": 877, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} +{"episode_index": 12, "length": 405, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} +{"episode_index": 13, "length": 425, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} +{"episode_index": 14, "length": 442, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} +{"episode_index": 15, "length": 501, "tasks": ["Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."]} +{"episode_index": 16, "length": 360, "tasks": ["Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."]} +{"episode_index": 17, "length": 419, "tasks": ["Pick up the block from the table with both hands. Shift to holding it with one hand from the bottom. take a few steps back and face a different direction. Hold it with both hands again, and put it on the ground."]} +{"episode_index": 18, "length": 535, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} +{"episode_index": 19, "length": 443, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} +{"episode_index": 20, "length": 549, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} +{"episode_index": 21, "length": 563, "tasks": ["Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."]} +{"episode_index": 22, "length": 533, "tasks": ["Pick up the foam roll on the table. Use your hands to slowly roll the roller back and forth on the table surface a few times while walking along with it. Lay the roller back on the table and step back."]} +{"episode_index": 23, "length": 552, "tasks": ["Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."]} +{"episode_index": 24, "length": 420, "tasks": ["Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."]} +{"episode_index": 25, "length": 365, "tasks": ["Pick up the wooden stool from the ground using both hands. Let go of one hand and take a few steps. hold the stool with both hands again and place it back on the ground."]} +{"episode_index": 26, "length": 399, "tasks": ["Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."]} +{"episode_index": 27, "length": 440, "tasks": ["Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."]} +{"episode_index": 28, "length": 366, "tasks": ["Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."]} +{"episode_index": 29, "length": 419, "tasks": ["Step up to the white laptop cart, and use one hand to push it forward a few steps. Put both hands on the cart, and pull it side ways a few steps. Release the cart and step away."]} diff --git a/track_1/meta/episodes_metadata.jsonl b/track_1/meta/episodes_metadata.jsonl index cf338d4844cdaa66d7b68f2a7681879d76142c98..9142de89384b7fac7bf792ec3f6eb9bfbbf2243a 100644 --- a/track_1/meta/episodes_metadata.jsonl +++ b/track_1/meta/episodes_metadata.jsonl @@ -1,37 +1,30 @@ {"episode_index": 0, "sequence_id": "2026-03-16_15-04-26_hula_hoop_inside_ground_01", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} {"episode_index": 1, "sequence_id": "2026-03-16_15-07-35_hula_hoop_through_01", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} {"episode_index": 2, "sequence_id": "2026-04-25_14-46-14_hula_hoop_jump_rope_06", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} -{"episode_index": 3, "sequence_id": "2026-06-09_17-29-34_big_red_bowl_pick_and_place_round_table_07", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 4, "sequence_id": "2026-06-03_18-26-12_big_red_bowl_flip_03", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} +{"episode_index": 3, "sequence_id": "2026-06-03_18-26-12_big_red_bowl_flip_03", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} +{"episode_index": 4, "sequence_id": "2026-06-08_15-30-20_big_red_bowl_push_05", "camera": "front_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} {"episode_index": 5, "sequence_id": "2026-06-09_11-19-34_big_red_bowl_skinny_wood_chair_05", "camera": "front_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 6, "sequence_id": "2026-06-08_15-30-20_big_red_bowl_push_05", "camera": "front_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 7, "sequence_id": "2026-05-29_15-00-31_big_red_bowl_under_skinny_wood_chair_02", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 8, "sequence_id": "2026-06-04_16-20-46_big_red_bowl_pick_and_place_ground_04", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 9, "sequence_id": "2026-05-21_11-59-19_iron_under_skinny_wood_chair_01", "camera": "back_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 10, "sequence_id": "2026-05-21_13-19-53_iron_pull_toward_you_01", "camera": "front_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 11, "sequence_id": "2026-06-09_11-34-07_iron_ground_05", "camera": "right_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 12, "sequence_id": "2026-06-09_11-36-52_iron_rotate_on_desk_05", "camera": "right_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 13, "sequence_id": "2026-06-08_15-54-40_iron_rotate_mid_air_04", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 14, "sequence_id": "2026-06-08_16-15-01_iron_touch_04", "camera": "right_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 15, "sequence_id": "2026-05-29_15-24-23_iron_pick_place_right_left_hand_02", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 16, "sequence_id": "2026-05-29_15-32-50_iron_rotate_mid_air_02", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 17, "sequence_id": "2026-06-04_17-01-14_iron_pick_and_place_ground_03", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 18, "sequence_id": "2026-06-04_17-14-52_iron_push_03", "camera": "back_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 19, "sequence_id": "2026-03-12_16-19-19_white_desk_crawl_under_01", "camera": "right_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 20, "sequence_id": "2026-03-12_16-31-19_white_desk_lower_to_ground_02", "camera": "back_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 21, "sequence_id": "2026-02-27_16-50-52_wipe_surface_white_desk_03", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 22, "sequence_id": "2026-03-13_11-18-20_white_desk_left_foot_push_04", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 23, "sequence_id": "2026-05-01_11-32-56_white_desk_crawl_under_10", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 24, "sequence_id": "2026-05-06_17-31-00_white_desk_side_to_upright_10", "camera": "right_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 25, "sequence_id": "2026-04-22_10-44-13_white_desk_right_foot_push_05", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 26, "sequence_id": "2026-04-22_18-19-53_white_desk_walk_go_under_06", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "white_desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 27, "sequence_id": "2026-04-24_15-45-06_white_desk_right_foot_push_06", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 28, "sequence_id": "2026-04-29_11-25-10_white_desk_side_to_side_08", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 29, "sequence_id": "2026-04-29_14-18-52_white_desk_pick_move_ground_09", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 30, "sequence_id": "2026-03-12_16-43-03_white_desk_side_to_side_01", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 31, "sequence_id": "2026-02-27_16-52-23_wipe_surface_white_desk_04", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 32, "sequence_id": "2026-03-12_16-22-31_white_desk_pick_move_ground_02", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 33, "sequence_id": "2026-04-29_14-21-44_white_desk_lower_to_ground_09", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 34, "sequence_id": "2026-03-19_15-41-36_soup_can_flip_04", "camera": "back_stereo_camera_left", "object": "soup_can", "object_prompt": "a small soup can with a lid.", "video_key": "observation.images.exo_camera"} -{"episode_index": 35, "sequence_id": "2026-05-29_14-08-13_disinfectant_wipes_pick_and_place_ground_02", "camera": "back_stereo_camera_left", "object": "disinfectant_wipes", "object_prompt": "A cyndrical jar with a green wrapper around it.", "video_key": "observation.images.exo_camera"} -{"episode_index": 36, "sequence_id": "2026-06-05_09-30-08_microwave_shift_left_03", "camera": "front_stereo_camera_left", "object": "microwave", "object_prompt": "A toy microwave with colorful buttons.", "video_key": "observation.images.exo_camera"} +{"episode_index": 6, "sequence_id": "2026-05-29_15-24-23_iron_pick_place_right_left_hand_02", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} +{"episode_index": 7, "sequence_id": "2026-06-08_15-54-40_iron_rotate_mid_air_04", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} +{"episode_index": 8, "sequence_id": "2026-06-09_11-34-07_iron_ground_05", "camera": "right_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} +{"episode_index": 9, "sequence_id": "2026-03-12_16-43-03_white_desk_side_to_side_01", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} +{"episode_index": 10, "sequence_id": "2026-03-13_11-18-20_white_desk_left_foot_push_04", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} +{"episode_index": 11, "sequence_id": "2026-04-29_14-21-44_white_desk_lower_to_ground_09", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} +{"episode_index": 12, "sequence_id": "2026-09-11_15-27-19_black_pan_wipe_06", "camera": "front_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} +{"episode_index": 13, "sequence_id": "2026-09-11_15-28-23_black_pan_wipe_07", "camera": "left_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} +{"episode_index": 14, "sequence_id": "2026-09-11_15-55-29_black_pan_wipe_08", "camera": "front_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} +{"episode_index": 15, "sequence_id": "2026-09-10_16-14-06_foam_grass_block_rotate_02", "camera": "right_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades of green and various shades of brown.", "video_key": "observation.images.exo_camera"} +{"episode_index": 16, "sequence_id": "2026-09-11_15-12-36_foam_grass_block_rotate_04", "camera": "front_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades of green and various shades of brown.", "video_key": "observation.images.exo_camera"} +{"episode_index": 17, "sequence_id": "2026-09-11_15-53-19_foam_grass_block_pick_place_05", "camera": "left_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades of green and various shades of brown.", "video_key": "observation.images.exo_camera"} +{"episode_index": 18, "sequence_id": "2026-09-10_15-45-17_paint_roller_table_roll_03", "camera": "back_stereo_camera_left", "object": "paint_roller", "object_prompt": "white with yellow stipped paint roller with a blue handle.", "video_key": "observation.images.exo_camera"} +{"episode_index": 19, "sequence_id": "2026-09-11_15-00-57_paint_roller_table_roll_04", "camera": "left_stereo_camera_left", "object": "paint_roller", "object_prompt": "white with yellow stipped paint roller with a blue handle.", "video_key": "observation.images.exo_camera"} +{"episode_index": 20, "sequence_id": "2026-09-11_15-45-25_paint_roller_table_roll_05", "camera": "left_stereo_camera_left", "object": "paint_roller", "object_prompt": "white with yellow stipped paint roller with a blue handle.", "video_key": "observation.images.exo_camera"} +{"episode_index": 21, "sequence_id": "2026-09-10_15-52-02_pink_foam_roll_tap_03", "camera": "left_stereo_camera_left", "object": "pink_foam_roll", "object_prompt": "pink foam roll.", "video_key": "observation.images.exo_camera"} +{"episode_index": 22, "sequence_id": "2026-09-10_15-57-50_pink_foam_roll_table_001", "camera": "front_stereo_camera_left", "object": "pink_foam_roll", "object_prompt": "pink foam roll.", "video_key": "observation.images.exo_camera"} +{"episode_index": 23, "sequence_id": "2026-09-11_15-04-48_pink_foam_roll_tap_04", "camera": "front_stereo_camera_left", "object": "pink_foam_roll", "object_prompt": "pink foam roll.", "video_key": "observation.images.exo_camera"} +{"episode_index": 24, "sequence_id": "2026-09-10_16-02-58_short_wood_stool_sit_rotate_001", "camera": "front_stereo_camera_left", "object": "short_wood_stool", "object_prompt": "short wooden stool with no back support.", "video_key": "observation.images.exo_camera"} +{"episode_index": 25, "sequence_id": "2026-09-10_16-08-39_short_wood_stool_pick_place_02", "camera": "right_stereo_camera_left", "object": "short_wood_stool", "object_prompt": "short wooden stool with no back support.", "video_key": "observation.images.exo_camera"} +{"episode_index": 26, "sequence_id": "2026-09-11_15-49-16_short_wood_stool_sit_rotate_05", "camera": "right_stereo_camera_left", "object": "short_wood_stool", "object_prompt": "short wooden stool with no back support.", "video_key": "observation.images.exo_camera"} +{"episode_index": 27, "sequence_id": "2026-09-10_15-07-44_white_laptop_cart_place_down_01", "camera": "right_stereo_camera_left", "object": "white_laptop_cart", "object_prompt": "white_laptop_cart.", "video_key": "observation.images.exo_camera"} +{"episode_index": 28, "sequence_id": "2026-09-10_15-36-27_white_laptop_cart_place_down_02", "camera": "back_stereo_camera_left", "object": "white_laptop_cart", "object_prompt": "rolling white laptop desk with cup holder and basket.", "video_key": "observation.images.exo_camera"} +{"episode_index": 29, "sequence_id": "2026-09-10_15-38-09_white_laptop_cart_push_pull_003", "camera": "left_stereo_camera_left", "object": "white_laptop_cart", "object_prompt": "rolling white laptop desk with cup holder and basket.", "video_key": "observation.images.exo_camera"} diff --git a/track_1/meta/episodes_stats.jsonl b/track_1/meta/episodes_stats.jsonl index 1b4c30a105eca9879dab125e60fd7308680a8934..0e3096a196aca8c398534c772789dabab7e7e073 100644 --- a/track_1/meta/episodes_stats.jsonl +++ b/track_1/meta/episodes_stats.jsonl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db443f4cb7ac4861029ecf476aa474c3e1a7506d209c228a1f2c89afe1b836fc -size 69627 +oid sha256:ed9bff1cac70865d95f3d798d82f4aa1da37b032de2c149c03bbcfd539d0c0da +size 57505 diff --git a/track_1/meta/info.json b/track_1/meta/info.json index 650bee16c2c919c16f094371940be4c94adaf548..4593450430e50a5bf681be228fd2f69c64a055b7 100644 --- a/track_1/meta/info.json +++ b/track_1/meta/info.json @@ -2,14 +2,14 @@ "codebase_version": "v2.1", "robot_type": "video_only_object_tracking", "fps": 30, - "total_episodes": 37, - "total_frames": 25856, - "total_tasks": 33, - "total_videos": 37, + "total_episodes": 30, + "total_frames": 16563, + "total_tasks": 22, + "total_videos": 30, "total_chunks": 1, "chunks_size": 1000, "splits": { - "train": "0:37" + "train": "0:30" }, "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", diff --git a/track_1/meta/tasks.jsonl b/track_1/meta/tasks.jsonl index 783c2da1cd2627a8d77439a4c5744699d09fda94..35c097808e421a370140bfba4779af1fcc7cb3f6 100644 --- a/track_1/meta/tasks.jsonl +++ b/track_1/meta/tasks.jsonl @@ -1,33 +1,22 @@ {"task_index": 0, "task": "Walk over to the hula hoop on the floor and step inside the hula hoop. Lift the hula hoop over your entire body and place back on the floor when done."} {"task_index": 1, "task": "Walk over to the hula hoop on the floor and grasp it with your right hand keeping the hula hoop vertical. Pass your right foot through the hula hoop and then your head and torso while shifting the hula hoop from your right hand to the left hand. Finally step through the hula hoop using your left leg. Place the hula hoop on the floor."} {"task_index": 2, "task": "Walk over to the hula hoop on the floor and pick up the hula hoop using both hands. Jump through the hula hoop as if it was a jump rope 3x."} -{"task_index": 3, "task": "Walk over to the big red bowl on the ground and pick up the bowl using your left hand and place on the round table."} -{"task_index": 4, "task": "Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."} +{"task_index": 3, "task": "Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."} +{"task_index": 4, "task": "Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."} {"task_index": 5, "task": "Walk over to the big red bowl on the floor and pick up the red bowl using your right hand and then handover to your left hand and then place the big red bowl on the skinny wood chair. Step away when complete."} -{"task_index": 6, "task": "Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."} -{"task_index": 7, "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground infront of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} -{"task_index": 8, "task": "Walk over to the big red bowl on the round table and pick up the bowl using your left hand and place on the ground."} -{"task_index": 9, "task": "Walk over to the iron on the skinny wood chair and using your left hand lift the iron and place the iron underneath the skinny wood chair."} -{"task_index": 10, "task": "Walk over to the iron on the white desk and pull the iron towards you. Step away when complete."} -{"task_index": 11, "task": "Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."} -{"task_index": 12, "task": "Walk over to the iron on the white desk and rotate the iron on the table using right hand only. Step away when complete."} -{"task_index": 13, "task": "Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."} -{"task_index": 14, "task": "Walk over to the iron on the white desk and touch the iron. Step away when complete."} -{"task_index": 15, "task": "Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."} -{"task_index": 16, "task": "Walk over to the iron on the floor and pick up the iron using both hands and roatate the iron as you walk within the bounding area. place on the ground Step away when complete."} -{"task_index": 17, "task": "Walk over to the iron on the round table and pick it up with your left hand and set it down on the floor."} -{"task_index": 18, "task": "Walk over to the iron on the white desk and push the iron away from you. Step away when complete."} -{"task_index": 19, "task": "Walk to the white desk and crawl under it to the other end of the desk."} -{"task_index": 20, "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} -{"task_index": 21, "task": "Walk around the desk while continuously wiping its surface with your hands."} -{"task_index": 22, "task": "Walk to the white desk, use your left foot to push the desk."} -{"task_index": 23, "task": "Walk the white desk and crawl under it to the other end of the desk."} -{"task_index": 24, "task": "Walk to the white desk lying on its side. Place both hands on the tabletop and lift the desk back to its upright position."} -{"task_index": 25, "task": "white desk right foot push."} -{"task_index": 26, "task": "Walk a lap around the desk. Stop beside the desk, crouch down, and move underneath it."} -{"task_index": 27, "task": "Walk to the white desk, use your right foot to push the desk."} -{"task_index": 28, "task": "Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."} -{"task_index": 29, "task": "Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."} -{"task_index": 30, "task": "Walk over to the soup can on the white desk and grasp the soup can with one hand and flip on the white desk."} -{"task_index": 31, "task": "Walk over to the disinfecting wipes on the round table using your right hand pick up the disinfecting wipes and walk within the bounding area and place on the ground."} -{"task_index": 32, "task": "Walk over to the microwave on the round table and shift the microwave slightly to the left."} +{"task_index": 6, "task": "Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."} +{"task_index": 7, "task": "Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."} +{"task_index": 8, "task": "Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."} +{"task_index": 9, "task": "Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."} +{"task_index": 10, "task": "Walk to the white desk, use your left foot to push the desk."} +{"task_index": 11, "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} +{"task_index": 12, "task": "Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."} +{"task_index": 13, "task": "Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."} +{"task_index": 14, "task": "Pick up the block from the table with both hands. Shift to holding it with one hand from the bottom. take a few steps back and face a different direction. Hold it with both hands again, and put it on the ground."} +{"task_index": 15, "task": "Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."} +{"task_index": 16, "task": "Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."} +{"task_index": 17, "task": "Pick up the foam roll on the table. Use your hands to slowly roll the roller back and forth on the table surface a few times while walking along with it. Lay the roller back on the table and step back."} +{"task_index": 18, "task": "Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."} +{"task_index": 19, "task": "Pick up the wooden stool from the ground using both hands. Let go of one hand and take a few steps. hold the stool with both hands again and place it back on the ground."} +{"task_index": 20, "task": "Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."} +{"task_index": 21, "task": "Step up to the white laptop cart, and use one hand to push it forward a few steps. Put both hands on the cart, and pull it side ways a few steps. 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