Datasets:

Modalities:
Video
ArXiv:
DOI:
License:
wensi-ai's picture
Add files using upload-large-folder tool
8b8db0e verified
{
"task_name": "set up a coffee station in your kitchen",
"data_folder": "",
"meta_data": {
"task_duration": 6389,
"valid_duration": [30, 6419]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["paper_coffee_filter_210"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [30, 566],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["paper_coffee_filter_210", "countertop_kelzer_0"]],
"manipulating_object_id": ["paper_coffee_filter_210"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [566, 1189],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 2,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["coffee_maker_212"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1190, 1834],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 3,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["paper_coffee_filter_210", "coffee_maker_212"]],
"manipulating_object_id": ["paper_coffee_filter_210"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1834, 2793],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 4,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["bottle_of_coffee_211", "shelf_pfusrd_1"]],
"manipulating_object_id": ["bottle_of_coffee_211"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2793, 3586],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 5,
"skill_id": [91],
"skill_description": ["place on next to"],
"object_id": [["bottle_of_coffee_211", "countertop_kelzer_0", "coffee_maker_212"]],
"manipulating_object_id": ["bottle_of_coffee_211"],
"memory_prefix": [],
"spatial_prefix": [["", "", "left"]],
"frame_duration": [3586, 4470],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 6,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["coffee_cup_209"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4470, 4770],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 7,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["coffee_cup_209", "countertop_kelzer_0"]],
"manipulating_object_id": ["coffee_cup_209"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4770, 5170],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 8,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["saucer_208"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5171, 5860],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 9,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["coffee_cup_209", "saucer_208"]],
"manipulating_object_id": ["coffee_cup_209"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5861, 6419],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [["paper_coffee_filter_210", "countertop_kelzer_0"], ["paper_coffee_filter_210", "coffee_maker_212"]],
"manipulating_object_id": ["paper_coffee_filter_210", "paper_coffee_filter_210"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [30, 2793],
"skill_idxes": [0, 1, 2, 3]
},
{
"primitive_idx": 1,
"primitive_id": [2, 91],
"primitive_description": ["pick up from", "place on next to"],
"object_id": [["bottle_of_coffee_211", "shelf_pfusrd_1"], ["bottle_of_coffee_211", "countertop_kelzer_0", "coffee_maker_212"]],
"manipulating_object_id": ["bottle_of_coffee_211", "bottle_of_coffee_211"],
"memory_prefix": [],
"spatial_prefix": [[], [[], [], ["left"]]],
"frame_duration": [2793, 4470],
"skill_idxes": [4, 5]
},
{
"primitive_idx": 2,
"primitive_id": [2, 3],
"primitive_description": ["pick up from", "place on"],
"object_id": [["coffee_cup_209", "countertop_kelzer_0"], ["coffee_cup_209", "saucer_208"]],
"manipulating_object_id": ["coffee_cup_209", "coffee_cup_209"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4470, 6419],
"skill_idxes": [6, 7, 8, 9]
}
]
}