diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..fb7524a688114225bfd127b1f9f246df16745693 --- /dev/null +++ b/README.md @@ -0,0 +1,109 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +- DROID +- robotics +- skill-filtered +- moving +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# DROID Skill Subset: moving + +This is a skill-filtered subset of the local DROID 1.0.1 LeRobot-format dataset. +It was generated with `droid_filter.py` from `/scratch/jellyho/prsl_skills`. + +## Repository + +- Hugging Face repo: `jellyho/droid_subsets_moving` +- Source dataset path used locally: `/scratch/jellyho/droid_1.0.1` +- Output subset path used locally: `/scratch/jellyho/droid_subsets/moving` + +## Filtering + +```json +{ + "skills": [ + "moving" + ], + "skill_keywords": { + "moving": [ + "move", + "slide", + "push", + "pull", + "drag", + "shift" + ] + }, + "queries": [], + "exclude": [], + "regex": false, + "match_all": false, + "min_length": null, + "max_length": null, + "max_episodes": 300, + "sample_mode": "balanced", + "seed": 0 +} +``` + +## Dataset Statistics + +- Episodes: `300` +- Frames: `74339` +- Unique tasks: `300` +- Sampling mode: `balanced` +- Max episodes: `300` +- Seed: `0` +- Mean episode length: `247.79666666666665` +- Min/max episode length: `73` / `796` +- Episode success rate: `0.9933333333333333` + +## Top Tasks + +| task_text | episodes | +| --- | --- | +| Move the marker slightly forward | 1 | +| Move the green plushie to the left of the orange plushie | 1 | +| Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | 1 | +| Push the top drawer on the light grey cabinet backwards | 1 | +| Move the cushions to the right shoulder of the couch | 1 | +| Push the top of the bottle on the left of the tap | 1 | +| Move the mug to the right | 1 | +| Move the book forward | 1 | +| Move the green towel to the top third rack | 1 | +| Move the green cloth | 1 | + +## Files + +This repository keeps the LeRobot-style layout: + +```text +meta/info.json +meta/tasks.parquet +meta/episodes/chunk-000/file-000.parquet +data/chunk-000/file-*.parquet +episodes.csv +episodes.jsonl +summary.json +stats.json +task_counts.csv +length_histogram.csv +source_episode_files.csv +``` + +The subset keeps compact `episode_index`, `task_index`, and `index` values for +loader compatibility. `episodes.csv` keeps `original_episode_index` for tracing +rows back to the original DROID dataset when available. + +## Notes + +Video files are not included unless explicitly materialized with video symlinks +or copies. 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sha256:1f8e2e8a3d32d75d6492e2b9664650587ae535ee78aa1ee6bca35c1e101493ca +size 218289 diff --git a/episodes.csv b/episodes.csv new file mode 100644 index 0000000000000000000000000000000000000000..c0848f53389a2869bad5be2858118ea86af25683 --- /dev/null +++ b/episodes.csv @@ -0,0 +1,301 @@ +episode_index,original_episode_index,task_text,length,data/chunk_index,data/file_index,dataset_from_index,dataset_to_index,source_episode_file +0,286,Move the green plushie to the left of the orange plushie,123,0,0,0,123,meta/episodes/chunk-000/file-000.parquet +1,357,Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup,330,0,0,123,453,meta/episodes/chunk-000/file-000.parquet +2,377,Push the top drawer on the light grey cabinet backwards,73,0,0,453,526,meta/episodes/chunk-000/file-000.parquet +3,401,Move the cushions to the right shoulder of the couch,796,0,0,526,1322,meta/episodes/chunk-000/file-000.parquet +4,1270,Push the top of the bottle on the left of the tap,318,0,1,1322,1640,meta/episodes/chunk-000/file-000.parquet +5,2405,Move the mug to the right,228,0,2,1640,1868,meta/episodes/chunk-000/file-000.parquet +6,2408,Move the book forward,195,0,2,1868,2063,meta/episodes/chunk-000/file-000.parquet +7,2470,Move the green towel to the top third rack,191,0,2,2063,2254,meta/episodes/chunk-000/file-000.parquet +8,3340,Move the green cloth,108,0,3,2254,2362,meta/episodes/chunk-000/file-000.parquet +9,3470,Move the yellow block to the orange block on the left.,160,0,3,2362,2522,meta/episodes/chunk-000/file-000.parquet +10,3777,Move the bowl into the sink,282,0,3,2522,2804,meta/episodes/chunk-000/file-000.parquet +11,3928,Move the black basket to the right,171,0,3,2804,2975,meta/episodes/chunk-000/file-000.parquet +12,3987,Pick up the block with a letter on top and move it to the right,330,0,3,2975,3305,meta/episodes/chunk-000/file-000.parquet +13,4188,Move the white cloth to the right,297,0,3,3305,3602,meta/episodes/chunk-000/file-000.parquet +14,4305,Push the silver tin with utensils forward,131,0,3,3602,3733,meta/episodes/chunk-000/file-000.parquet +15,4355,Move the mug nearer to the sharpie,105,0,3,3733,3838,meta/episodes/chunk-000/file-000.parquet +16,4730,Move the yellow mug to the right side of the table,123,0,4,3838,3961,meta/episodes/chunk-000/file-000.parquet +17,5108,Pull open the top box and extract a black cloth,487,0,4,3961,4448,meta/episodes/chunk-000/file-000.parquet +18,5145,Slide the spout to the left,110,0,4,4448,4558,meta/episodes/chunk-000/file-000.parquet +19,5533,Move one cloth from the left to the right,214,0,5,4558,4772,meta/episodes/chunk-000/file-000.parquet +20,5703,Move the pink ball,167,0,5,4772,4939,meta/episodes/chunk-000/file-000.parquet +21,5879,Move the silver bowl to the front right plate.,210,0,5,4939,5149,meta/episodes/chunk-000/file-000.parquet +22,6749,Move the teddy to the right,161,0,6,5149,5310,meta/episodes/chunk-000/file-000.parquet +23,6907,Move the brush inside the silver flask up and down,305,0,6,5310,5615,meta/episodes/chunk-000/file-000.parquet +24,7572,Move the cup slightly down on the table,304,0,6,5615,5919,meta/episodes/chunk-000/file-000.parquet +25,7722,Move the left green object from the gray plate to the green plate,193,0,6,5919,6112,meta/episodes/chunk-000/file-000.parquet +26,7929,Push down the toaster lever,122,0,7,6112,6234,meta/episodes/chunk-000/file-000.parquet +27,8000,Move the keys from the counter top to the open shelf,306,0,7,6234,6540,meta/episodes/chunk-000/file-000.parquet +28,8412,"Remove the tile letter n from the spelt word, then move the tile letter g to the left",303,0,7,6540,6843,meta/episodes/chunk-000/file-000.parquet +29,8784,Move the orange marker to the right,115,0,7,6843,6958,meta/episodes/chunk-000/file-000.parquet +30,9011,Pick up the white board eraser and move it backwards.,84,0,8,6958,7042,meta/episodes/chunk-000/file-000.parquet +31,9110,Move the black bin forward,153,0,8,7042,7195,meta/episodes/chunk-000/file-000.parquet +32,9651,Move the white bottle from the plastic bag to the table,439,0,8,7195,7634,meta/episodes/chunk-000/file-000.parquet +33,10675,Move the black mouse backwards,331,0,9,7634,7965,meta/episodes/chunk-000/file-000.parquet +34,10804,Move the purple and blue marker to the right and place them in an upright position,593,0,9,7965,8558,meta/episodes/chunk-000/file-000.parquet +35,11125,Move the shirts to the top of the box one at a time,324,0,9,8558,8882,meta/episodes/chunk-000/file-000.parquet +36,11194,Push the top orange button on the right side of the stove,138,0,9,8882,9020,meta/episodes/chunk-000/file-000.parquet +37,11572,Move the object from the left to the right,134,0,10,9020,9154,meta/episodes/chunk-000/file-000.parquet +38,12235,Move the yellow block to the left.,153,0,10,9154,9307,meta/episodes/chunk-000/file-000.parquet +39,12244,Move one of the black pieces on the chess board,266,0,10,9307,9573,meta/episodes/chunk-000/file-000.parquet +40,12329,Put the banana plushie on the gray plate then move the watermelon plushie to the black plate,291,0,10,9573,9864,meta/episodes/chunk-000/file-000.parquet +41,13012,Move the faucet spout to the right,138,0,11,9864,10002,meta/episodes/chunk-000/file-000.parquet +42,13021,Move the blue bottle to the right,233,0,11,10002,10235,meta/episodes/chunk-000/file-000.parquet +43,13428,Move the bottle to the table,207,0,11,10235,10442,meta/episodes/chunk-000/file-000.parquet +44,14477,Slide the door to the left.,310,0,12,10442,10752,meta/episodes/chunk-000/file-001.parquet +45,15301,Move the black bowl to the right,203,0,13,10752,10955,meta/episodes/chunk-000/file-001.parquet +46,15313,Move the blue pillow on the left to the right and then put the grey remote on the armrest,447,0,13,10955,11402,meta/episodes/chunk-000/file-001.parquet +47,15438,Place the lid on the pot and then move it to the bottom right stove plate,397,0,13,11402,11799,meta/episodes/chunk-000/file-001.parquet +48,15449,Move the orange on the stove to the silver pot,219,0,13,11799,12018,meta/episodes/chunk-000/file-001.parquet +49,15513,"Put the pink and peach shirts in the plastic bag, then pull up the ends of the plastic",370,0,13,12018,12388,meta/episodes/chunk-000/file-001.parquet +50,15550,Move the purple object to the left,156,0,13,12388,12544,meta/episodes/chunk-000/file-001.parquet +51,15822,Push the faucet handle downwards.,200,0,14,12544,12744,meta/episodes/chunk-000/file-001.parquet +52,15972,Move the white and blue block to the left,425,0,14,12744,13169,meta/episodes/chunk-000/file-001.parquet +53,16763,Move the tea towel to the right and then fold it,296,0,14,13169,13465,meta/episodes/chunk-000/file-001.parquet +54,17684,Move the seal tape,313,0,15,13465,13778,meta/episodes/chunk-000/file-001.parquet +55,17826,Move the bowl to the left,197,0,15,13778,13975,meta/episodes/chunk-000/file-001.parquet +56,17978,Move the glass to the right,219,0,16,13975,14194,meta/episodes/chunk-000/file-001.parquet +57,19084,Move the black grating on the left to the right.,342,0,17,14194,14536,meta/episodes/chunk-000/file-001.parquet +58,19091,Move the blue bottle forwards then close the lid on the wooden toy box.,269,0,17,14536,14805,meta/episodes/chunk-000/file-001.parquet +59,19663,Move the red pepper to the right,120,0,17,14805,14925,meta/episodes/chunk-000/file-001.parquet +60,19779,Move the pan on the stove to the plate on the left,278,0,17,14925,15203,meta/episodes/chunk-000/file-001.parquet +61,20203,Push the top orange button on the right side of the stove button display,98,0,18,15203,15301,meta/episodes/chunk-000/file-001.parquet +62,20339,Push the faucet handle downwards,113,0,18,15301,15414,meta/episodes/chunk-000/file-001.parquet +63,21320,Move the yellow and green object to the right side of the desk,213,0,19,15414,15627,meta/episodes/chunk-000/file-001.parquet +64,21422,Move the Green curved block to the right,149,0,19,15627,15776,meta/episodes/chunk-000/file-001.parquet +65,21675,Move the plate to the left,226,0,19,15776,16002,meta/episodes/chunk-000/file-001.parquet +66,21764,Move the silver object to the right side of the table,149,0,19,16002,16151,meta/episodes/chunk-000/file-001.parquet +67,22137,Move the pink octopus plush toy to the right,137,0,19,16151,16288,meta/episodes/chunk-000/file-001.parquet +68,22475,Move the yellow mug to the center of the table,125,0,20,16288,16413,meta/episodes/chunk-000/file-001.parquet +69,22583,Move the toy forward,156,0,20,16413,16569,meta/episodes/chunk-000/file-001.parquet +70,22827,Put the black lid on the Listerine bottle then move it to the bottom left side of the counter,486,0,20,16569,17055,meta/episodes/chunk-000/file-001.parquet +71,22926,Move the yellow cup to the right,178,0,20,17055,17233,meta/episodes/chunk-000/file-001.parquet +72,23298,Move the Rubik's cube slightly to the left,232,0,20,17233,17465,meta/episodes/chunk-000/file-001.parquet +73,23664,pull out the dishwasher rack,370,0,21,17465,17835,meta/episodes/chunk-000/file-001.parquet +74,23796,Push the kettle to the left,214,0,21,17835,18049,meta/episodes/chunk-000/file-001.parquet +75,24470,Pick up the paper cups on the left and move them to the right,224,0,21,18049,18273,meta/episodes/chunk-000/file-001.parquet +76,24527,Move the chess piece north of its original position,281,0,22,18273,18554,meta/episodes/chunk-000/file-001.parquet +77,25480,Move the yellow can to the right,181,0,22,18554,18735,meta/episodes/chunk-000/file-001.parquet +78,25642,Move the ball towards the box,261,0,22,18735,18996,meta/episodes/chunk-000/file-001.parquet +79,25849,Move the tin can to the right,90,0,23,18996,19086,meta/episodes/chunk-000/file-001.parquet +80,26462,Move the grey cup to the left,169,0,23,19086,19255,meta/episodes/chunk-000/file-001.parquet +81,26897,Move the bottle from the bowl to the windowsill then put the lemon on the plate,526,0,24,19255,19781,meta/episodes/chunk-000/file-001.parquet +82,27826,Open the faucet on the right then push it to the right side of the sink.,432,0,24,19781,20213,meta/episodes/chunk-000/file-001.parquet +83,27908,Move the grey towel to the left,240,0,24,20213,20453,meta/episodes/chunk-000/file-001.parquet +84,28092,Shift the blue object to the left,269,0,25,20453,20722,meta/episodes/chunk-000/file-001.parquet +85,28493,Move the glass cup to the left.,147,0,25,20722,20869,meta/episodes/chunk-000/file-002.parquet +86,28556,Push the white container on the dustpan,520,0,25,20869,21389,meta/episodes/chunk-000/file-002.parquet +87,28839,Move the packet of whey to the left side of the countertop,209,0,25,21389,21598,meta/episodes/chunk-000/file-002.parquet +88,29056,Move the cup to the topmost shelf of the white object,243,0,25,21598,21841,meta/episodes/chunk-000/file-002.parquet +89,30152,"Move the basket to the right, then remove the purple and blue shirts and the towel from the basket",414,0,26,21841,22255,meta/episodes/chunk-000/file-002.parquet +90,30789,"Move the white bowl backwards, put the pen inside the white bowl",294,0,27,22255,22549,meta/episodes/chunk-000/file-002.parquet +91,31324,Move the rectangular block on the right backwards,133,0,27,22549,22682,meta/episodes/chunk-000/file-002.parquet +92,32237,Move the glass object and the bottle on the table,240,0,28,22682,22922,meta/episodes/chunk-000/file-002.parquet +93,32653,Move the bottle to the right side of the table,190,0,29,22922,23112,meta/episodes/chunk-000/file-002.parquet +94,32673,Move the purple bowl to the right,200,0,29,23112,23312,meta/episodes/chunk-000/file-002.parquet +95,32718,Move a chess piece on the chess board,227,0,29,23312,23539,meta/episodes/chunk-000/file-002.parquet +96,32761,Move the object forward toward the left,130,0,29,23539,23669,meta/episodes/chunk-000/file-002.parquet +97,32863,Move the small orange pot to the right,216,0,29,23669,23885,meta/episodes/chunk-000/file-002.parquet +98,33030,Pick up the white bottle with a black lid and move it a little to the left on the table,254,0,29,23885,24139,meta/episodes/chunk-000/file-002.parquet +99,34641,Move the blue object to the right,152,0,30,24139,24291,meta/episodes/chunk-000/file-002.parquet +100,34781,Move the oven mite to the right side of the drawer,404,0,31,24291,24695,meta/episodes/chunk-000/file-002.parquet +101,35865,Move the cup slightly to the left of the chair,96,0,32,24695,24791,meta/episodes/chunk-000/file-002.parquet +102,36241,Move the white cup towards you,225,0,32,24791,25016,meta/episodes/chunk-000/file-002.parquet +103,36482,Move the stapler to the left and put it on the paper,126,0,32,25016,25142,meta/episodes/chunk-000/file-002.parquet +104,36933,Move the masking tape from the wooden stand to the countertop,341,0,32,25142,25483,meta/episodes/chunk-000/file-002.parquet +105,36937,Move the bowl to the right,101,0,32,25483,25584,meta/episodes/chunk-000/file-002.parquet +106,37036,Move the can to the left,162,0,33,25584,25746,meta/episodes/chunk-000/file-002.parquet +107,38537,Pick up the metal cylinder and move it forward onto the book in the top right corner of the table,283,0,34,25746,26029,meta/episodes/chunk-000/file-002.parquet +108,38600,Move the jar and the tea kettle to the left,589,0,34,26029,26618,meta/episodes/chunk-000/file-002.parquet +109,38992,Move the green bowl to the right,173,0,34,26618,26791,meta/episodes/chunk-000/file-002.parquet +110,39205,Move the yellow block to the front left,719,0,35,26791,27510,meta/episodes/chunk-000/file-002.parquet +111,39320,Move the black thing on top of the cup,126,0,35,27510,27636,meta/episodes/chunk-000/file-002.parquet +112,39444,Pick up the rod and move it within the silver cup.,217,0,35,27636,27853,meta/episodes/chunk-000/file-002.parquet +113,40001,Move the white and yellow pack to the left,172,0,35,27853,28025,meta/episodes/chunk-000/file-002.parquet +114,40086,Move the pineapple from the pot to the bowl,256,0,35,28025,28281,meta/episodes/chunk-000/file-002.parquet +115,40543,Move the stick of glue from the table to the bed,171,0,36,28281,28452,meta/episodes/chunk-000/file-002.parquet +116,40735,"Wipe the plate with the towel, put the towel on the counter then move the plate backwards",532,0,36,28452,28984,meta/episodes/chunk-000/file-002.parquet +117,40946,Move the white object near the mouse to the left,454,0,36,28984,29438,meta/episodes/chunk-000/file-002.parquet +118,41230,Move the napkin backwards.,414,0,36,29438,29852,meta/episodes/chunk-000/file-002.parquet +119,41419,Move the stapler to the right,182,0,36,29852,30034,meta/episodes/chunk-000/file-002.parquet +120,41506,Move the tape in the cabinet to the bottom shelf.,284,0,37,30034,30318,meta/episodes/chunk-000/file-002.parquet +121,41538,Move the can backward,107,0,37,30318,30425,meta/episodes/chunk-000/file-002.parquet +122,41546,Move the shoe rack backwards.,350,0,37,30425,30775,meta/episodes/chunk-000/file-002.parquet +123,41942,Move the wooden block to the right.,169,0,37,30775,30944,meta/episodes/chunk-000/file-002.parquet +124,42184,Move the blue cloth,161,0,37,30944,31105,meta/episodes/chunk-000/file-002.parquet +125,42636,Move the grey faucet to the right,99,0,38,31105,31204,meta/episodes/chunk-000/file-003.parquet +126,42922,Move the book to the left,224,0,38,31204,31428,meta/episodes/chunk-000/file-003.parquet +127,43057,Move the clear bowl to the right.,164,0,38,31428,31592,meta/episodes/chunk-000/file-003.parquet +128,43083,Move the orange block to the left,289,0,38,31592,31881,meta/episodes/chunk-000/file-003.parquet +129,43181,Move the faucet head to the left and then push the faucet handle upwards,371,0,38,31881,32252,meta/episodes/chunk-000/file-003.parquet +130,43796,Move the cup away from you,108,0,39,32252,32360,meta/episodes/chunk-000/file-003.parquet +131,43885,Move the grey cup to the napkin then move it to the right.,236,0,39,32360,32596,meta/episodes/chunk-000/file-003.parquet +132,44455,Push the tin up on the desk,100,0,39,32596,32696,meta/episodes/chunk-000/file-003.parquet +133,44465,Slide the towel to the right,102,0,39,32696,32798,meta/episodes/chunk-000/file-003.parquet +134,44611,Push the faucet to the center of the sink.,96,0,39,32798,32894,meta/episodes/chunk-000/file-003.parquet +135,45154,Move the books to left then put the shoes on the top of the cabinet and push them backwards,604,0,40,32894,33498,meta/episodes/chunk-000/file-003.parquet +136,45344,Move the bread to the left,138,0,40,33498,33636,meta/episodes/chunk-000/file-003.parquet +137,45857,Move the orange mug to the right.,243,0,40,33636,33879,meta/episodes/chunk-000/file-003.parquet +138,46268,Move the plate with the tea cup to the right a bit,202,0,41,33879,34081,meta/episodes/chunk-000/file-003.parquet +139,46665,Move the pink and white coffee cup to the right side of the table,578,0,41,34081,34659,meta/episodes/chunk-000/file-003.parquet +140,46800,Move the hanger with the black and white shirt to the right,411,0,41,34659,35070,meta/episodes/chunk-000/file-003.parquet +141,47001,Move the ends of the charger to opposite sides,553,0,41,35070,35623,meta/episodes/chunk-000/file-003.parquet +142,47047,"Move the black pot to the left side of the stove, pick up the jar with the orange lid from the right side of the counter and place it in-between the two pots on the stove, remove the wooden spoon from the black pot on the left and put it on the stove",610,0,42,35623,36233,meta/episodes/chunk-000/file-003.parquet +143,47403,Shift the crayon to the left,121,0,42,36233,36354,meta/episodes/chunk-000/file-003.parquet +144,47454,Move the plush toy and wipe the table with the cloth,562,0,42,36354,36916,meta/episodes/chunk-000/file-003.parquet +145,47624,Push the third button from the right on the washing machine,140,0,42,36916,37056,meta/episodes/chunk-000/file-003.parquet +146,48287,"Move the objects from the orange bowl to the black pot, then cover the black pot with the glass lid",585,0,43,37056,37641,meta/episodes/chunk-000/file-003.parquet +147,48434,Move the yellow block to the right,155,0,43,37641,37796,meta/episodes/chunk-000/file-003.parquet +148,48471,Push the round circular button on the far right of the coffee machine,124,0,43,37796,37920,meta/episodes/chunk-000/file-003.parquet +149,48658,Move the yellow block to the left,127,0,43,37920,38047,meta/episodes/chunk-000/file-003.parquet +150,48794,Turn the wooden tray to the right and push it backwards,417,0,43,38047,38464,meta/episodes/chunk-000/file-003.parquet +151,49119,Put the on the pot then move the green cloth to the right,437,0,43,38464,38901,meta/episodes/chunk-000/file-003.parquet +152,49159,Slide the cup forward,213,0,43,38901,39114,meta/episodes/chunk-000/file-003.parquet +153,49519,Move the white bowl to the left,95,0,44,39114,39209,meta/episodes/chunk-000/file-003.parquet +154,49695,Move the black and white cube from the table to the tray,183,0,44,39209,39392,meta/episodes/chunk-000/file-003.parquet +155,51463,Move the grey bear backwards,140,0,45,39392,39532,meta/episodes/chunk-000/file-003.parquet +156,51919,Move the black item to the left,268,0,46,39532,39800,meta/episodes/chunk-000/file-003.parquet +157,52281,"Close the bottle with the lid, wipe the table with the yellow cloth, and move the bottle forward",615,0,46,39800,40415,meta/episodes/chunk-000/file-003.parquet +158,52493,Move the marker backward slightly to the left,136,0,46,40415,40551,meta/episodes/chunk-000/file-003.parquet +159,52734,Move the marker,114,0,47,40551,40665,meta/episodes/chunk-000/file-003.parquet +160,52835,Move the K-cup to the top segment of the take-away food container,181,0,47,40665,40846,meta/episodes/chunk-000/file-003.parquet +161,52881,pull out the rack from the dishwasher,193,0,47,40846,41039,meta/episodes/chunk-000/file-003.parquet +162,53076,Move the yellow towel to the right,119,0,47,41039,41158,meta/episodes/chunk-000/file-003.parquet +163,53195,Shift the purple toy to the white plate,146,0,47,41158,41304,meta/episodes/chunk-000/file-003.parquet +164,53668,Move the cutlery holder to the left side of the countertop,252,0,47,41304,41556,meta/episodes/chunk-000/file-003.parquet +165,53846,Move the tap nozzle to the left,133,0,48,41556,41689,meta/episodes/chunk-000/file-003.parquet +166,53886,Move the yellow mug forward,167,0,48,41689,41856,meta/episodes/chunk-000/file-003.parquet +167,53974,Move the middle square toy backwards then flip it over to the left.,425,0,48,41856,42281,meta/episodes/chunk-000/file-003.parquet +168,54112,Move the tissue box to the right,212,0,48,42281,42493,meta/episodes/chunk-000/file-003.parquet +169,55230,Move the bottle backwards then place it on top of the silver object,338,0,49,42493,42831,meta/episodes/chunk-000/file-003.parquet +170,55323,Use fork to move the small plate and the paper towels to the left,365,0,49,42831,43196,meta/episodes/chunk-000/file-003.parquet +171,55684,Move the silver holder to the right,175,0,49,43196,43371,meta/episodes/chunk-000/file-003.parquet +172,55906,Slide the small black thing on top of the cup,120,0,49,43371,43491,meta/episodes/chunk-000/file-003.parquet +173,56100,Move the orange towel closer to you,86,0,50,43491,43577,meta/episodes/chunk-000/file-003.parquet +174,56176,Push the top of the blue bottle downwards,118,0,50,43577,43695,meta/episodes/chunk-000/file-003.parquet +175,56661,Slide the green towel up and down on the surface,133,0,50,43695,43828,meta/episodes/chunk-000/file-004.parquet +176,57601,Move the salt shaker forward,106,0,51,43828,43934,meta/episodes/chunk-000/file-004.parquet +177,57679,Move the silver pot to the right,128,0,51,43934,44062,meta/episodes/chunk-000/file-004.parquet +178,58522,Move the black bin backwards.,211,0,52,44062,44273,meta/episodes/chunk-000/file-004.parquet +179,58647,Pick up the plastic bowl from the countertop and slightly move it to the right,205,0,52,44273,44478,meta/episodes/chunk-000/file-004.parquet +180,58699,Pick up the ziploc bag on the table and move it into the ziploc blue packaging box,226,0,52,44478,44704,meta/episodes/chunk-000/file-004.parquet +181,58966,Move the bottle forward towards the right,117,0,52,44704,44821,meta/episodes/chunk-000/file-004.parquet +182,59685,Move the pot to the top left corner of the stove then put the lid on the pot,523,0,53,44821,45344,meta/episodes/chunk-000/file-004.parquet +183,60115,Move the glass jar to the top left,249,0,53,45344,45593,meta/episodes/chunk-000/file-004.parquet +184,60447,Slide the spout to the center,250,0,54,45593,45843,meta/episodes/chunk-000/file-004.parquet +185,60756,Move the blue mug backward,162,0,54,45843,46005,meta/episodes/chunk-000/file-004.parquet +186,60788,Move the cup towards you,112,0,54,46005,46117,meta/episodes/chunk-000/file-004.parquet +187,60798,Move the small bottle to the right,151,0,54,46117,46268,meta/episodes/chunk-000/file-004.parquet +188,61129,Push the space key on the keyboard,125,0,54,46268,46393,meta/episodes/chunk-000/file-004.parquet +189,61414,Pull out the brown basket then remove the socks from there and put them on the top of the cabinet then push the basket,400,0,54,46393,46793,meta/episodes/chunk-000/file-004.parquet +190,61720,Move the blue mug from the sink to the dish rack,443,0,55,46793,47236,meta/episodes/chunk-000/file-004.parquet +191,62092,Move the yogurt to the right side of the table,221,0,55,47236,47457,meta/episodes/chunk-000/file-004.parquet +192,62307,Slide the grey towel to the left,104,0,55,47457,47561,meta/episodes/chunk-000/file-004.parquet +193,62417,Put some of the contents of the clear lunch box onto the counter and push them to the right with the rolling pin,519,0,55,47561,48080,meta/episodes/chunk-000/file-004.parquet +194,62678,Move the bottle from the dishrack to the window sill,261,0,56,48080,48341,meta/episodes/chunk-000/file-004.parquet +195,62796,Move the white mug forward,91,0,56,48341,48432,meta/episodes/chunk-000/file-004.parquet +196,62903,Move the white ball to the right,184,0,56,48432,48616,meta/episodes/chunk-000/file-004.parquet +197,63296,Move the orange towel from the chair on the right to the one on the left,403,0,56,48616,49019,meta/episodes/chunk-000/file-004.parquet +198,63314,Move the turquoise object forward,101,0,56,49019,49120,meta/episodes/chunk-000/file-004.parquet +199,63589,Move the white mug forward.,265,0,56,49120,49385,meta/episodes/chunk-000/file-004.parquet +200,64161,Move the bigger cube-shaped object to the tray,214,0,57,49385,49599,meta/episodes/chunk-000/file-004.parquet +201,64506,Move the brown bear forward,104,0,57,49599,49703,meta/episodes/chunk-000/file-004.parquet +202,66717,Move the green and white sachet forward,211,0,58,49703,49914,meta/episodes/chunk-000/file-004.parquet +203,66888,Move the bottle from the lower compartment to the upper compartment of the tray,190,0,58,49914,50104,meta/episodes/chunk-000/file-004.parquet +204,66910,"Slide the white plates a little upwards on the table, slide the white plates a little to the left on the table",364,0,58,50104,50468,meta/episodes/chunk-000/file-004.parquet +205,67305,Pull open the topmost chest of drawers to the right,284,0,59,50468,50752,meta/episodes/chunk-000/file-004.parquet +206,67391,Pull out the bottom drawer on the beige filing cabinet,149,0,59,50752,50901,meta/episodes/chunk-000/file-004.parquet +207,67537,Move the orange plushie to the right,144,0,59,50901,51045,meta/episodes/chunk-000/file-004.parquet +208,67908,Move the black computer mouse to the left,185,0,59,51045,51230,meta/episodes/chunk-000/file-004.parquet +209,69128,Move the yellow mug to the right,331,0,60,51230,51561,meta/episodes/chunk-000/file-004.parquet +210,69150,Push the box into the cabinet,135,0,60,51561,51696,meta/episodes/chunk-000/file-004.parquet +211,69509,Push down the lever on the toaster.,106,0,61,51696,51802,meta/episodes/chunk-000/file-004.parquet +212,69539,Pick up the pink bowl and move it to the left side of the bed,206,0,61,51802,52008,meta/episodes/chunk-000/file-004.parquet +213,69590,Move the lid to the right,149,0,61,52008,52157,meta/episodes/chunk-000/file-004.parquet +214,69753,Slide the mug to the left,80,0,61,52157,52237,meta/episodes/chunk-000/file-004.parquet +215,69833,Move the coffee capsule to the storage bin,124,0,61,52237,52361,meta/episodes/chunk-000/file-004.parquet +216,69903,Move the yellow object to the left,190,0,61,52361,52551,meta/episodes/chunk-000/file-004.parquet +217,70443,"Remove the clear sanitizer bottle from the blue object, put it closer to the edge of the sink and push its pump downwards",498,0,61,52551,53049,meta/episodes/chunk-000/file-004.parquet +218,70474,Move the blue box and place it next to the white cloth,178,0,61,53049,53227,meta/episodes/chunk-000/file-004.parquet +219,70490,Move the white and green bottle forward.,160,0,62,53227,53387,meta/episodes/chunk-000/file-004.parquet +220,70809,Pull open the bottom drawer,161,0,62,53387,53548,meta/episodes/chunk-000/file-005.parquet +221,71003,Move the potato to the right side of the table,454,0,62,53548,54002,meta/episodes/chunk-000/file-005.parquet +222,71036,Push the topmost drawer closed.,156,0,62,54002,54158,meta/episodes/chunk-000/file-005.parquet +223,71289,Move the cup to the right,122,0,62,54158,54280,meta/episodes/chunk-000/file-005.parquet +224,71390,Move the cloth,312,0,62,54280,54592,meta/episodes/chunk-000/file-005.parquet +225,71768,Move the black book closer to the red book,341,0,63,54592,54933,meta/episodes/chunk-000/file-005.parquet +226,71936,Pull the utensil holding bucket slightly backwards,215,0,63,54933,55148,meta/episodes/chunk-000/file-005.parquet +227,72286,Move the coffeepot to the right side of the counter,197,0,63,55148,55345,meta/episodes/chunk-000/file-005.parquet +228,72358,Move the towel,104,0,63,55345,55449,meta/episodes/chunk-000/file-005.parquet +229,72361,Move the pot to the left,153,0,63,55449,55602,meta/episodes/chunk-000/file-005.parquet +230,72971,Move the pot to the right side of the stove,265,0,64,55602,55867,meta/episodes/chunk-000/file-005.parquet +231,73369,Move the silver vessel on the left to the right.,166,0,64,55867,56033,meta/episodes/chunk-000/file-005.parquet +232,73596,Move the dental floss to the right side of the sink,332,0,64,56033,56365,meta/episodes/chunk-000/file-005.parquet +233,74057,Move the piece of paper towel to the right,194,0,65,56365,56559,meta/episodes/chunk-000/file-005.parquet +234,74370,Slide the silver pot to the bottom right cooker on the stove,323,0,65,56559,56882,meta/episodes/chunk-000/file-005.parquet +235,74750,"Move the paper towel to the left, then move the roll and holder to the right",489,0,65,56882,57371,meta/episodes/chunk-000/file-005.parquet +236,74877,Move the cylinder to the front left.,128,0,65,57371,57499,meta/episodes/chunk-000/file-005.parquet +237,75190,Move the purple pump bottle to the front right.,296,0,66,57499,57795,meta/episodes/chunk-000/file-005.parquet +238,75478,"Move the peach shirt to the right, move the radish plush toy to the right, move the white rope to the right",788,0,66,57795,58583,meta/episodes/chunk-000/file-005.parquet +239,75484,Move the yellow sponge to the right of the clear jar,189,0,66,58583,58772,meta/episodes/chunk-000/file-005.parquet +240,75582,"Put the pink plate on top of the blue bowl, push the blue bowl forwards",410,0,66,58772,59182,meta/episodes/chunk-000/file-005.parquet +241,75936,Move the clear cup to the right,151,0,66,59182,59333,meta/episodes/chunk-000/file-005.parquet +242,75985,Move the pot to the plate in from,191,0,66,59333,59524,meta/episodes/chunk-000/file-005.parquet +243,76673,Place the blue block inside the open drawer then push the drawer closed,140,0,67,59524,59664,meta/episodes/chunk-000/file-005.parquet +244,77475,Move the pan to the right,229,0,68,59664,59893,meta/episodes/chunk-000/file-005.parquet +245,77619,Move the pillow from left to right.,134,0,68,59893,60027,meta/episodes/chunk-000/file-005.parquet +246,78167,Move the black pot to the top right stove plate,289,0,68,60027,60316,meta/episodes/chunk-000/file-005.parquet +247,78816,Move the letter pieces on the table,639,0,69,60316,60955,meta/episodes/chunk-000/file-005.parquet +248,79292,Move the power cord to the right side of the iron,223,0,69,60955,61178,meta/episodes/chunk-000/file-005.parquet +249,79303,Move the blocks from the bowl to the table,539,0,69,61178,61717,meta/episodes/chunk-000/file-005.parquet +250,79694,Push a button on the gray remote control,233,0,70,61717,61950,meta/episodes/chunk-000/file-005.parquet +251,79816,Move the soft toy block with the letter A to the left and close to the edge,303,0,70,61950,62253,meta/episodes/chunk-000/file-005.parquet +252,80095,Move the paper glue slightly to the left,161,0,70,62253,62414,meta/episodes/chunk-000/file-005.parquet +253,80098,Move the spoon to the red object,158,0,70,62414,62572,meta/episodes/chunk-000/file-005.parquet +254,81151,Move the pair of trousers from the chair to the couch,243,0,71,62572,62815,meta/episodes/chunk-000/file-005.parquet +255,81987,Push the faucet to the left,226,0,72,62815,63041,meta/episodes/chunk-000/file-005.parquet +256,82726,Move the yellow cup,244,0,72,63041,63285,meta/episodes/chunk-000/file-005.parquet +257,82889,Move the fork and spoon to the middle compartment of the utensil drying rack,158,0,73,63285,63443,meta/episodes/chunk-000/file-005.parquet +258,83165,Move the bottle that is near the stove to the left of the air fryer,348,0,73,63443,63791,meta/episodes/chunk-000/file-005.parquet +259,83502,Push a black key on the keyboard,156,0,73,63791,63947,meta/episodes/chunk-000/file-005.parquet +260,83976,Move the clear bottle to the right of the small green lid,244,0,74,63947,64191,meta/episodes/chunk-000/file-005.parquet +261,84136,Move the first left front black piece backwards,360,0,74,64191,64551,meta/episodes/chunk-000/file-005.parquet +262,84168,Move the white bowl on the top to the right,387,0,74,64551,64938,meta/episodes/chunk-000/file-005.parquet +263,84436,Move the yellow mug forwards,249,0,74,64938,65187,meta/episodes/chunk-000/file-005.parquet +264,84547,Move the bottle to the right,226,0,74,65187,65413,meta/episodes/chunk-000/file-005.parquet +265,84606,Move the object in the cup,267,0,74,65413,65680,meta/episodes/chunk-000/file-005.parquet +266,84697,Turn the tap nozzle to the right then pull up the tap lever,375,0,74,65680,66055,meta/episodes/chunk-000/file-005.parquet +267,85260,Move the tissue roll to the left,208,0,75,66055,66263,meta/episodes/chunk-000/file-006.parquet +268,85403,Move the cup to the left,125,0,75,66263,66388,meta/episodes/chunk-000/file-006.parquet +269,86378,Move the white mug closer to the spoon,241,0,76,66388,66629,meta/episodes/chunk-000/file-006.parquet +270,87492,Move the black cap to the left,339,0,77,66629,66968,meta/episodes/chunk-000/file-006.parquet +271,87908,Move the plate on the left to the right.,184,0,77,66968,67152,meta/episodes/chunk-000/file-006.parquet +272,88083,Pick up the small box and slightly move it to the left.,95,0,77,67152,67247,meta/episodes/chunk-000/file-006.parquet +273,88363,Move the cup to the right then place the tape on the plate,552,0,78,67247,67799,meta/episodes/chunk-000/file-006.parquet +274,88592,Move the object to the right,129,0,78,67799,67928,meta/episodes/chunk-000/file-006.parquet +275,88809,Move the green towel to the right,86,0,78,67928,68014,meta/episodes/chunk-000/file-006.parquet +276,89121,Slide the box to the left,312,0,78,68014,68326,meta/episodes/chunk-000/file-006.parquet +277,89816,Move the maroon cloth to the left then move the yellow object to the left,488,0,79,68326,68814,meta/episodes/chunk-000/file-006.parquet +278,89886,Move the charger to the left then move part of the cable to the right,234,0,79,68814,69048,meta/episodes/chunk-000/file-006.parquet +279,90074,Move the cloth to the right,168,0,79,69048,69216,meta/episodes/chunk-000/file-006.parquet +280,90385,Move the orange towel to the left,86,0,79,69216,69302,meta/episodes/chunk-000/file-006.parquet +281,90630,Move the green cloth to the right,208,0,80,69302,69510,meta/episodes/chunk-000/file-006.parquet +282,90840,Push closed the top right drawer of the chest of drawers,243,0,80,69510,69753,meta/episodes/chunk-000/file-006.parquet +283,91020,Move the spoon from the red bowl to the mug,286,0,80,69753,70039,meta/episodes/chunk-000/file-006.parquet +284,91090,Push the open drawer closed,257,0,80,70039,70296,meta/episodes/chunk-000/file-006.parquet +285,91114,Move the block furthest to the left to the right,132,0,80,70296,70428,meta/episodes/chunk-000/file-006.parquet +286,92062,Move the kettle to the left,358,0,81,70428,70786,meta/episodes/chunk-000/file-006.parquet +287,92226,Move the bag to the right side of the chair,525,0,81,70786,71311,meta/episodes/chunk-000/file-006.parquet +288,92229,Push the bottom tray in the fridge in,136,0,81,71311,71447,meta/episodes/chunk-000/file-006.parquet +289,92554,Move the green dish to the right side of the table,282,0,81,71447,71729,meta/episodes/chunk-000/file-006.parquet +290,92949,Take the plate and move it to the right of the desk,218,0,82,71729,71947,meta/episodes/chunk-000/file-006.parquet +291,93207,Move the salt shaker to the left,263,0,82,71947,72210,meta/episodes/chunk-000/file-006.parquet +292,93574,"Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf",471,0,82,72210,72681,meta/episodes/chunk-000/file-006.parquet +293,94057,Move the packet to the left side of the table,215,0,83,72681,72896,meta/episodes/chunk-000/file-006.parquet +294,94064,"Remove the marker from the cup,move the cup to the left and put the marker in the cup",675,0,83,72896,73571,meta/episodes/chunk-000/file-006.parquet +295,94450,Move the glove to the left armrest,195,0,83,73571,73766,meta/episodes/chunk-000/file-006.parquet +296,95094,Move the cooking sticks on the countertop away from the silver tin towards the left,110,0,84,73766,73876,meta/episodes/chunk-000/file-006.parquet +297,95103,Move the glass jar to the left side of the dishwasher rack,206,0,84,73876,74082,meta/episodes/chunk-000/file-006.parquet +298,95148,Move the glass container forwards.,135,0,84,74082,74217,meta/episodes/chunk-000/file-006.parquet +299,95297,Move the marker slightly forward,122,0,84,74217,74339,meta/episodes/chunk-000/file-006.parquet diff --git a/episodes.jsonl b/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc2c92be49fa19f92988f5c63944515fffe16a08 --- /dev/null +++ b/episodes.jsonl @@ -0,0 +1,300 @@ +{"episode_index":0,"original_episode_index":286,"task_text":"Move the green plushie to the left of the orange plushie","length":123,"data\/chunk_index":0,"data\/file_index":0,"dataset_from_index":0,"dataset_to_index":123,"source_episode_file":"meta\/episodes\/chunk-000\/file-000.parquet"} +{"episode_index":1,"original_episode_index":357,"task_text":"Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup","length":330,"data\/chunk_index":0,"data\/file_index":0,"dataset_from_index":123,"dataset_to_index":453,"source_episode_file":"meta\/episodes\/chunk-000\/file-000.parquet"} +{"episode_index":2,"original_episode_index":377,"task_text":"Push the top drawer on the light grey cabinet backwards","length":73,"data\/chunk_index":0,"data\/file_index":0,"dataset_from_index":453,"dataset_to_index":526,"source_episode_file":"meta\/episodes\/chunk-000\/file-000.parquet"} +{"episode_index":3,"original_episode_index":401,"task_text":"Move the cushions to the right shoulder of the couch","length":796,"data\/chunk_index":0,"data\/file_index":0,"dataset_from_index":526,"dataset_to_index":1322,"source_episode_file":"meta\/episodes\/chunk-000\/file-000.parquet"} +{"episode_index":4,"original_episode_index":1270,"task_text":"Push the top of the bottle on the left of the tap","length":318,"data\/chunk_index":0,"data\/file_index":1,"dataset_from_index":1322,"dataset_to_index":1640,"source_episode_file":"meta\/episodes\/chunk-000\/file-000.parquet"} +{"episode_index":5,"original_episode_index":2405,"task_text":"Move the mug to the 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b/source_episode_files.csv @@ -0,0 +1,8 @@ +source_episode_file,episodes +meta/episodes/chunk-000/file-003.parquet,50 +meta/episodes/chunk-000/file-005.parquet,47 +meta/episodes/chunk-000/file-004.parquet,45 +meta/episodes/chunk-000/file-000.parquet,44 +meta/episodes/chunk-000/file-001.parquet,41 +meta/episodes/chunk-000/file-002.parquet,40 +meta/episodes/chunk-000/file-006.parquet,33 diff --git a/stats.json b/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..42fdfd765fd79bacf96fb91fa7b78b6a4b302633 --- /dev/null +++ b/stats.json @@ -0,0 +1,123 @@ +{ + "dataset": "/scratch/jellyho/droid_1.0.1", + "skills": [ + "moving" + ], + "queries": [], + "exclude": [], + "regex": false, + "match_all": false, + "case_sensitive": false, + "include_empty": false, + "min_length": null, + "max_length": null, + "max_episodes": 300, + "sample_mode": "balanced", + "seed": 0, + "num_episodes": 300, + "num_frames": 74339, + "num_tasks": 300, + "length": { + "min": 73, + "max": 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+ "value": "Move the book forward", + "count": 1 + }, + { + "value": "Move the green towel to the top third rack", + "count": 1 + }, + { + "value": "Move the green cloth", + "count": 1 + }, + { + "value": "Move the yellow block to the orange block on the left.", + "count": 1 + }, + { + "value": "Move the bowl into the sink", + "count": 1 + }, + { + "value": "Move the clear bottle to the right of the small green lid", + "count": 1 + }, + { + "value": "Move the first left front black piece backwards", + "count": 1 + }, + { + "value": "Move the white bowl on the top to the right", + "count": 1 + }, + { + "value": "Move the yellow mug forwards", + "count": 1 + }, + { + "value": "Move the bottle to the right", + "count": 1 + }, + { + "value": "Move the object in the cup", + "count": 1 + }, + { + "value": "Turn the tap nozzle to the right then pull up the tap lever", + "count": 1 + }, + { + "value": "Move the tissue roll to the left", + "count": 1 + } + ], + "num_source_data_files": 85 +} diff --git a/summary.json b/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae8a75fe1858c9e3735ebf54b2653711a1a052c --- /dev/null +++ b/summary.json @@ -0,0 +1,20 @@ +{ + "dataset": "/scratch/jellyho/droid_1.0.1", + "skills": [ + "moving" + ], + "queries": [], + "exclude": [], + "regex": false, + "match_all": false, + "case_sensitive": false, + "include_empty": false, + "min_length": null, + "max_length": null, + "max_episodes": 300, + "sample_mode": "balanced", + "seed": 0, + "num_episodes": 300, + "num_frames": 74339, + "num_tasks": 300 +} diff --git a/task_counts.csv b/task_counts.csv new file mode 100644 index 0000000000000000000000000000000000000000..401ec03c68f33e3fedde52831dc3bafef35e506d --- /dev/null +++ b/task_counts.csv @@ -0,0 +1,21 @@ +task_text,episodes +Move the marker slightly forward,1 +Move the green plushie to the left of the orange plushie,1 +Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup,1 +Push the top drawer on the light grey cabinet backwards,1 +Move the cushions to the right shoulder of the couch,1 +Push the top of the bottle on the left of the tap,1 +Move the mug to the right,1 +Move the book forward,1 +Move the green towel to the top third rack,1 +Move the green cloth,1 +Move the yellow block to the orange block on the left.,1 +Move the bowl into the sink,1 +Move the clear bottle to the right of the small green lid,1 +Move the first left front black piece backwards,1 +Move the white bowl on the top to the right,1 +Move the yellow mug forwards,1 +Move the bottle to the right,1 +Move the object in the cup,1 +Turn the tap nozzle to the right then pull up the tap lever,1 +Move the tissue roll to the left,1