Datasets:

Modalities:
Video
ArXiv:
DOI:
License:
wensi-ai's picture
Add files using upload-large-folder tool
8e794cf verified
{
"task_name": "carrying in groceries",
"data_folder": "",
"meta_data": {
"task_duration": 12779,
"valid_duration": [0, 12779]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["paper_bag_81"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 571],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["paper_bag_81", "car_ssxsje_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [571, 1215],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 2,
"skill_id": [14],
"skill_description": ["close lid"],
"object_id": [["car_ssxsje_0"]],
"manipulating_object_id": ["car_ssxsje_0"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1216, 2297],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 3,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["door_bexenl_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2298, 2729],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 4,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["door_bexenl_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2729, 3200],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 5,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["breakfast_table_xftrki_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3200, 4282],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 6,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4282, 4994],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 7,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["beefsteak_tomato_80", "paper_bag_81"]],
"manipulating_object_id": ["beefsteak_tomato_80"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4994, 5713],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 8,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5714, 6122],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 9,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["right_door"]],
"frame_duration": [6122, 6782],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 10,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["beefsteak_tomato_80", "fridge_petcxr_0"]],
"manipulating_object_id": ["beefsteak_tomato_80"],
"memory_prefix": [],
"spatial_prefix": [["", "layer_5"]],
"frame_duration": [6783, 7250],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 11,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["paper_bag_81"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [7251, 8069],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 12,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8070, 8403],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 13,
"skill_id": [99],
"skill_description": ["tip over"],
"object_id": [["paper_bag_81"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8403, 8650],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 14,
"skill_id": [28],
"skill_description": ["pour"],
"object_id": [[["carton_of_milk_79"], "paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8650, 9123],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 15,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [9124, 9413],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 16,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["carton_of_milk_79", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["carton_of_milk_79"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9414, 9741],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 17,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [9742, 10392],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 18,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["carton_of_milk_79", "fridge_petcxr_0"]],
"manipulating_object_id": ["carton_of_milk_79"],
"memory_prefix": [],
"spatial_prefix": [["", "layer_4"]],
"frame_duration": [10392, 10845],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 19,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [10845, 11798],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 20,
"skill_id": [12],
"skill_description": ["close door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["right_door"]],
"frame_duration": [11798, 12779],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [2],
"primitive_description": ["pick up from"],
"object_id": [["paper_bag_81", "car_ssxsje_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 1215],
"skill_idxes": [0, 1]
},
{
"primitive_idx": 1,
"primitive_id": [14],
"primitive_description": ["close lid"],
"object_id": [["car_ssxsje_0"]],
"manipulating_object_id": ["car_ssxsje_0"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1216, 2297],
"skill_idxes": [2]
},
{
"primitive_idx": 2,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["door_bexenl_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2298, 3200],
"skill_idxes": [3, 4]
},
{
"primitive_idx": 3,
"primitive_id": [3],
"primitive_description": ["place on"],
"object_id": [["paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3200, 4994],
"skill_idxes": [5, 6]
},
{
"primitive_idx": 4,
"primitive_id": [2],
"primitive_description": ["pick up from"],
"object_id": [["beefsteak_tomato_80", "paper_bag_81"]],
"manipulating_object_id": ["beefsteak_tomato_80"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4994, 5713],
"skill_idxes": [7]
},
{
"primitive_idx": 5,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["right_door"]]],
"frame_duration": [5714, 6782],
"skill_idxes": [8, 9]
},
{
"primitive_idx": 6,
"primitive_id": [4],
"primitive_description": ["place in"],
"object_id": [["beefsteak_tomato_80", "fridge_petcxr_0"]],
"manipulating_object_id": ["beefsteak_tomato_80"],
"memory_prefix": [],
"spatial_prefix": [[[], ["layer_5"]]],
"frame_duration": [6783, 7250],
"skill_idxes": [10]
},
{
"primitive_idx": 7,
"primitive_id": [99],
"primitive_description": ["tip over"],
"object_id": [["paper_bag_81"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [7251, 8650],
"skill_idxes": [11, 12, 13]
},
{
"primitive_idx": 8,
"primitive_id": [28],
"primitive_description": ["pour"],
"object_id": [[["carton_of_milk_79"], "paper_bag_81", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["paper_bag_81"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8650, 9413],
"skill_idxes": [14, 15]
},
{
"primitive_idx": 9,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [["carton_of_milk_79", "breakfast_table_xftrki_0"], ["carton_of_milk_79", "fridge_petcxr_0"]],
"manipulating_object_id": ["carton_of_milk_79", "carton_of_milk_79"],
"memory_prefix": [],
"spatial_prefix": [[], [[], ["layer_4"]]],
"frame_duration": [9414, 10845],
"skill_idxes": [16, 17, 18]
},
{
"primitive_idx": 10,
"primitive_id": [12],
"primitive_description": ["close door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["right_door"]]],
"frame_duration": [10845, 12779],
"skill_idxes": [19, 20]
}
]
}