Datasets:

Modalities:
Video
ArXiv:
DOI:
License:
2025-challenge-demos / annotations /task-0025 /episode_00250080.json
wensi-ai's picture
Add files using upload-large-folder tool
fdf1f9b verified
{
"task_name": "clearing food from table into fridge",
"data_folder": "",
"meta_data": {
"task_duration": 14814,
"valid_duration": [0, 14814]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_73"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 467],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_73", "bar_egwapq_0"]],
"manipulating_object_id": ["tupperware_73"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [470, 1004],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 2,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_74"]],
"manipulating_object_id": [],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [1004, 1181],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 3,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_74", "bar_egwapq_0"]],
"manipulating_object_id": ["tupperware_74"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [1181, 1572],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 4,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["breakfast_table_xftrki_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1572, 2496],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 5,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["tupperware_74", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["tupperware_74"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2496, 2821],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 6,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["tupperware_73", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["tupperware_73"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2821, 2958],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 7,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["half_chicken_78"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2958, 4025],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 8,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["half_chicken_78", "plate_76"]],
"manipulating_object_id": ["half_chicken_78"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4025, 4650],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 9,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_73"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [4650, 5682],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 10,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["half_chicken_78", "tupperware_73"]],
"manipulating_object_id": ["half_chicken_78"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5682, 6113],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 11,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["half_apple_pie_77"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [6113, 6772],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 12,
"skill_id": [90],
"skill_description": ["push to"],
"object_id": [["half_apple_pie_77", "plate_75"]],
"manipulating_object_id": ["half_apple_pie_77"],
"memory_prefix": [],
"spatial_prefix": [["", "to_the_edge_of"]],
"frame_duration": [6772, 7748],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 13,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["half_apple_pie_77", "plate_75"]],
"manipulating_object_id": ["half_apple_pie_77"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [7748, 8631],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 14,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_74"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [8631, 9242],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 15,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["half_apple_pie_77", "tupperware_74"]],
"manipulating_object_id": ["half_apple_pie_77"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9242, 9573],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 16,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9573, 10276],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 17,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["right_door"]],
"frame_duration": [10276, 11030],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 18,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_73"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [11030, 11784],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 19,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_73", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["tupperware_73"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [11784, 12222],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 20,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_74", "breakfast_table_xftrki_0"]],
"manipulating_object_id": ["tupperware_74"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [12222, 12402],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 21,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [12402, 13203],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 22,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["tupperware_73", "fridge_petcxr_0"]],
"manipulating_object_id": ["tupperware_73"],
"memory_prefix": [],
"spatial_prefix": [["", "layer_4"]],
"frame_duration": [13203, 13839],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 23,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["tupperware_74", "fridge_petcxr_0"]],
"manipulating_object_id": ["tupperware_74"],
"memory_prefix": [],
"spatial_prefix": [["", "layer_5"]],
"frame_duration": [13839, 14341],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 24,
"skill_id": [12],
"skill_description": ["close door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["right_door"]],
"frame_duration": [14341, 14814],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [2, 3],
"primitive_description": ["pick up from", "place on"],
"object_id": [[["tupperware_73", "tupperware_74"], "bar_egwapq_0"], [["tupperware_74", "tupperware_73"], "breakfast_table_xftrki_0"]],
"manipulating_object_id": [["tupperware_73", "tupperware_74"], ["tupperware_74", "tupperware_73"]],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 2958],
"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": [["half_chicken_78", "plate_76"], ["half_chicken_78", "tupperware_73"]],
"manipulating_object_id": ["half_chicken_78", "half_chicken_78"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [2958, 6113],
"skill_idxes": [7, 8, 9, 10]
},
{
"primitive_idx": 2,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [["half_apple_pie_77", "plate_75"], ["half_apple_pie_77", "tupperware_74"]],
"manipulating_object_id": ["half_apple_pie_77", "half_apple_pie_77"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [6113, 9573],
"skill_idxes": [11, 12, 13, 14, 15]
},
{
"primitive_idx": 3,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["right_door"]]],
"frame_duration": [9573, 11030],
"skill_idxes": [16, 17]
},
{
"primitive_idx": 4,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["tupperware_73", "tupperware_74"], "breakfast_table_xftrki_0"], [["tupperware_73", "tupperware_74"], "fridge_petcxr_0"]],
"manipulating_object_id": [["tupperware_73", "tupperware_74"], ["tupperware_73", "tupperware_74"]],
"memory_prefix": [],
"spatial_prefix": [[], [[], ["layer_4", "layer_5"]]],
"frame_duration": [11030, 14341],
"skill_idxes": [18, 19, 20, 21, 22, 23]
},
{
"primitive_idx": 5,
"primitive_id": [12],
"primitive_description": ["close door"],
"object_id": [["fridge_petcxr_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["right_door"]]],
"frame_duration": [14341, 14814],
"skill_idxes": [24]
}
]
}