Datasets:

Formats:
parquet
ArXiv:
DOI:
Libraries:
Datasets
Dask
License:
wensi-ai's picture
Add files using upload-large-folder tool
587981f verified
{
"task_name": "putting shoes on rack",
"data_folder": "",
"meta_data": {
"task_duration": 6898,
"valid_duration": [0, 6898]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["gym_shoe_78"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 552],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["gym_shoe_78", "floors_xorxro_0"]],
"manipulating_object_id": ["gym_shoe_78"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [552, 1421],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 2,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["gym_shoe_77"]],
"manipulating_object_id": [],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [1422, 1680],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 3,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["gym_shoe_77", "floors_xorxro_0"]],
"manipulating_object_id": ["gym_shoe_77"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [1680, 2145],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 4,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["hall_tree_daxzaw_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2145, 2398],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 5,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["gym_shoe_77", "hall_tree_daxzaw_0"]],
"manipulating_object_id": ["gym_shoe_77"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [2398, 2828],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 6,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["gym_shoe_78", "hall_tree_daxzaw_0"]],
"manipulating_object_id": ["gym_shoe_78"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [2828, 3211],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 7,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["sandal_76"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3211, 3738],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 8,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["sandal_76", "floors_xorxro_0"]],
"manipulating_object_id": ["sandal_76"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3739, 4177],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 9,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["sandal_75"]],
"manipulating_object_id": [],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [4177, 4410],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 10,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["sandal_75", "floors_xorxro_0"]],
"manipulating_object_id": ["sandal_75"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [4410, 4932],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 11,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["hall_tree_daxzaw_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [4932, 5860],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 12,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["sandal_76", "hall_tree_daxzaw_0"]],
"manipulating_object_id": ["sandal_76"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [5860, 6451],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 13,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["sandal_75", "hall_tree_daxzaw_0"]],
"manipulating_object_id": ["sandal_75"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [6451, 6898],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["gym_shoe_78", "gym_shoe_77"], "floors_xorxro_0"], [["gym_shoe_77", "gym_shoe_78"], "hall_tree_daxzaw_0"]],
"manipulating_object_id": [["gym_shoe_78", "gym_shoe_77"], ["gym_shoe_77", "gym_shoe_78"]],
"memory_prefix": [],
"spatial_prefix": [[], [[], ["high_level", "high_level"]]],
"frame_duration": [0, 3211],
"skill_idxes": [0, 1, 2, 3, 4, 5, 6]
},
{
"primitive_idx": 1,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["sandal_76", "sandal_75"], "floors_xorxro_0"], [["sandal_76", "sandal_75"], "hall_tree_daxzaw_0"]],
"manipulating_object_id": [["sandal_76", "sandal_75"], ["sandal_76", "sandal_75"]],
"memory_prefix": [],
"spatial_prefix": [[], [[], ["high_level", "high_level"]]],
"frame_duration": [3211, 6898],
"skill_idxes": [7, 8, 9, 10, 11, 12, 13]
}
]
}