lucazanett/wiping_07
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "custom_manipulator", "total_episodes": 3, "total_frames": 3418, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 20, "video_files_size_in_mb": 200, "fps": 50, "splits": { "train": "0:3" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lucazanett/wiping_07.
0187
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=lucazanett/wiping07"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
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"data_files_size_in_mb": 20,
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"fps": 50,
"splits": {
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"orientation_6d.5",
"stiffness.tx",
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"stiffness.tz",
"stiffness.rx",
"stiffness.ry",
"stiffness.rz",
"gripper"
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"gripper_force",
"obj_detected"
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"recording_strategy": {
"source_file": "/home/lzanetti/workspaces/lerobot_teleop_ws/recording_strategy/whiteboard_wiping_deployment_eval_30.json",
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"dataset_name": "whiteboard_wiping_act_v1_deployment_eval",
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"purpose": "Fixed deployment rollouts for evaluating the trained ACT whiteboard-wiping policy. Do not use these episodes for training or validation.",
"global_protocol": {
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"same robot hardware",
"same eraser and grasp",
"same camera mounts and calibration",
"same whiteboard",
"same marker type/color",
"same control frequency and policy settings"
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"before_each_episode": [
"Reset the robot to the specified start pose.",
"Draw the specified mark at the requested board location.",
"Start all recordings before policy execution."
],
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"Run the policy autonomously.",
"Do not assist unless required for safety.",
"Do not reposition the scene after rollout starts."
],
"after_each_episode": [
"Record success or failure before resetting.",
"Estimate fraction of mark removed.",
"Record contact loss, collision, intervention, and failure mode.",
"Keep the full rollout even if it fails."
],
"success_definition": {
"primary": "At least 90% of the intended mark is removed and the robot retracts without unsafe contact.",
"secondary": [
"no human intervention",
"no collision",
"no sustained unintended contact loss",
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},
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"missed_mark",
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"purpose": "Nominal interior irregular mark",
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{
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"purpose": "Interior long vertical mark",
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"mark_center_norm": {
"x": 0.4,
"y": 0.5
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"mark_type": "vertical_line",
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{
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"purpose": "Interior long horizontal mark",
"read_aloud": "Deploy episode 5. Place a large horizontal line at the center, around X 0.60, Y 0.50. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
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"x": 0.6,
"y": 0.5
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"mark_type": "horizontal_line",
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"y": 0.0,
"z": 0.0
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{
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"split": "deployment_test",
"purpose": "Interior tall mark",
"read_aloud": "Deploy episode 6. Place a medium tall rectangle at the center, around X 0.50, Y 0.40. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.4
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"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
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},
{
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"purpose": "Large interior patch",
"read_aloud": "Deploy episode 7. Place a large irregular patch at the center, around X 0.50, Y 0.60. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.6
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"mark_type": "large_irregular_patch",
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"y": 0.0,
"z": 0.0
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},
{
"episode_id": 8,
"split": "deployment_test",
"purpose": "Lower-left interior",
"read_aloud": "Deploy episode 8. Place a small square at the lower left, around X 0.35, Y 0.35. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.35
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"mark_type": "small_square",
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"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
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{
"episode_id": 9,
"split": "deployment_test",
"purpose": "Upper-right interior",
"read_aloud": "Deploy episode 9. Place a medium square at the upper right, around X 0.65, Y 0.65. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
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"x": 0.65,
"y": 0.65
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"mark_type": "medium_square",
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"eraser_start_offset_m": {
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"y": 0.0,
"z": 0.0
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{
"episode_id": 10,
"split": "deployment_test",
"purpose": "Multiple local marks",
"read_aloud": "Deploy episode 10. Place a medium two nearby marks at the center, around X 0.50, Y 0.50. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
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"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
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},
{
"episode_id": 11,
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"purpose": "Left boundary",
"read_aloud": "Deploy episode 11. Place a medium square at the middle left, around X 0.20, Y 0.50. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
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"y": 0.5
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"y": 0.0,
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{
"episode_id": 12,
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"purpose": "Right boundary",
"read_aloud": "Deploy episode 12. Place a medium square at the middle right, around X 0.80, Y 0.50. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
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"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
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"notes": null
},
"debug": {
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"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
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"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 13,
"split": "deployment_test",
"purpose": "Bottom boundary",
"read_aloud": "Deploy episode 13. Place a medium wide rectangle at the lower center, around X 0.50, Y 0.20. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.2
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
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"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
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"timestamp_issue": null,
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"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 14,
"split": "deployment_test",
"purpose": "Top boundary",
"read_aloud": "Deploy episode 14. Place a medium wide rectangle at the upper center, around X 0.50, Y 0.80. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.8
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
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"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 15,
"split": "deployment_test",
"purpose": "Lower-left corner",
"read_aloud": "Deploy episode 15. Place a medium irregular scribble at the lower left, around X 0.22, Y 0.22. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.22,
"y": 0.22
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 16,
"split": "deployment_test",
"purpose": "Lower-right corner",
"read_aloud": "Deploy episode 16. Place a medium square at the lower right, around X 0.78, Y 0.22. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.78,
"y": 0.22
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
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"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 17,
"split": "deployment_test",
"purpose": "Upper-left corner",
"read_aloud": "Deploy episode 17. Place a medium tall rectangle at the upper left, around X 0.22, Y 0.78. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.22,
"y": 0.78
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
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"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 18,
"split": "deployment_test",
"purpose": "Upper-right corner",
"read_aloud": "Deploy episode 18. Place a large vertical line at the upper right, around X 0.78, Y 0.78. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.78,
"y": 0.78
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 19,
"split": "deployment_test",
"purpose": "Top-edge long stroke",
"read_aloud": "Deploy episode 19. Place a large horizontal line at the upper left, around X 0.30, Y 0.80. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.8
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 20,
"split": "deployment_test",
"purpose": "Bottom-edge large patch",
"read_aloud": "Deploy episode 20. Place a large irregular patch at the lower right, around X 0.70, Y 0.20. Use the nominal start. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.2
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
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"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 21,
"split": "deployment_test",
"purpose": "Left start offset",
"read_aloud": "Deploy episode 21. Place a small square at the middle left, around X 0.30, Y 0.40. Use the start 5 cm left from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.4
},
"mark_type": "small_square",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 22,
"split": "deployment_test",
"purpose": "Right start offset",
"read_aloud": "Deploy episode 22. Place a small square at the middle right, around X 0.70, Y 0.40. Use the start 5 cm right from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.4
},
"mark_type": "small_square",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 23,
"split": "deployment_test",
"purpose": "Down start offset",
"read_aloud": "Deploy episode 23. Place a medium square at the upper center, around X 0.40, Y 0.70. Use the start 5 cm down from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.4,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 24,
"split": "deployment_test",
"purpose": "Up start offset",
"read_aloud": "Deploy episode 24. Place a medium square at the lower center, around X 0.60, Y 0.30. Use the start 5 cm up from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.6,
"y": 0.3
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 25,
"split": "deployment_test",
"purpose": "Combined variation",
"read_aloud": "Deploy episode 25. Place a small irregular scribble at the upper left, around X 0.25, Y 0.65. Use the start 5 cm right and 5 cm down from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.25,
"y": 0.65
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.05,
"y": -0.05,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 26,
"split": "deployment_test",
"purpose": "Combined variation",
"read_aloud": "Deploy episode 26. Place a medium wide rectangle at the lower right, around X 0.75, Y 0.35. Use the start 5 cm left and 5 cm up from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.75,
"y": 0.35
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.05,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
"inference_latency_ms_max": null,
"dropped_frames": null,
"robot_state_dropouts": null,
"timestamp_issue": null,
"controller_saturation": null,
"max_force_n_if_available": null,
"mean_contact_force_n_if_available": null,
"data_file_path": null,
"video_file_path": null
}
},
{
"episode_id": 27,
"split": "deployment_test",
"purpose": "Long path with opposite start",
"read_aloud": "Deploy episode 27. Place a large vertical line at the upper left, around X 0.35, Y 0.75. Use the start 5 cm right from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.75
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
"mark_removed_fraction": null,
"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
"episode_duration_s": null,
"time_to_first_contact_s": null,
"wiping_duration_s": null,
"failure_mode": null,
"notes": null
},
"debug": {
"policy_checkpoint": null,
"chunk_size": null,
"n_action_steps": null,
"temporal_ensemble_coeff": null,
"control_hz": 50,
"camera_fps": null,
"inference_latency_ms_mean": null,
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}
},
{
"episode_id": 28,
"split": "deployment_test",
"purpose": "Long path with opposite start",
"read_aloud": "Deploy episode 28. Place a large horizontal line at the lower right, around X 0.65, Y 0.25. Use the start 5 cm left from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.25
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
}
},
"result": {
"success": null,
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"human_intervention": null,
"safety_intervention": null,
"contact_loss": null,
"collision": null,
"premature_retract": null,
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"wiping_duration_s": null,
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"notes": null
},
"debug": {
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"control_hz": 50,
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}
},
{
"episode_id": 29,
"split": "deployment_test",
"purpose": "Combined visual and start variation",
"read_aloud": "Deploy episode 29. Place a medium two nearby marks at the upper center, around X 0.42, Y 0.68. Use the start 5 cm right and 5 cm down from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.42,
"y": 0.68
},
"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": -0.05,
"z": 0.0
}
},
"result": {
"success": null,
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},
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"data_file_path": null,
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}
},
{
"episode_id": 30,
"split": "deployment_test",
"purpose": "Combined large-mark and start variation",
"read_aloud": "Deploy episode 30. Place a large irregular patch at the lower center, around X 0.58, Y 0.32. Use the start 5 cm left and 5 cm up from nominal. Start recording and run the policy autonomously. Do not assist unless needed for safety.",
"planned": {
"mark_center_norm": {
"x": 0.58,
"y": 0.32
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.05,
"z": 0.0
}
},
"result": {
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},
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}
}
]
}
}
}Citation
BibTeX:
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