lucazanett/wiping_11
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "custom_manipulator", "total_episodes": 44, "total_frames": 47166, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 20, "video_files_size_in_mb": 200, "fps": 50, "splits": { "train": "0:44" }, "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_11.
0191
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=lucazanett/wiping11"> <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:
{
"codebase_version": "v3.0",
"robot_type": "custom_manipulator",
"total_episodes": 44,
"total_frames": 47166,
"total_tasks": 1,
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"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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"recording_strategy": {
"source_file": "/home/lzanetti/workspaces/lerobot_teleop_ws/recording_strategy/whiteboard_wiping_44episodes_40train_4val_fixed_start.json",
"strategy": {
"dataset_name": "whiteboard_wiping_act_v2_44episodes",
"version": "2.0",
"task": "Wipe the marked region on the whiteboard using a fixed initial wiper pose.",
"purpose": "Compact ACT data collection strategy with 40 training episodes and 4 held-out validation episodes.",
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"validation_usage": "Use only for validation loss. Do not include in training or normalization statistics."
},
"fixed_conditions": {
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"pose_id": "wiping_home",
"vary": false,
"rule": "Reset to exactly the same wiper/robot start pose before every episode."
},
"wiper_tool": "fixed",
"wiper_grasp": "fixed",
"whiteboard": "fixed",
"camera_mounts": "fixed",
"camera_calibration": "fixed",
"wiping_strategy": "horizontal raster",
"marker_type": "fixed",
"lighting": "approximately fixed"
},
"planned_variations": {
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"wiper_initial_position": false,
"camera_position": false,
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"board_coordinates": {
"x": "0.0 = left, 1.0 = right",
"y": "0.0 = bottom, 1.0 = top"
},
"global_operator_instructions": {
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"reset to wiping_home",
"approach the mark smoothly",
"slow before board contact",
"establish steady contact",
"wipe with horizontal left-right raster strokes",
"shift vertically by about one wiper width between strokes",
"cover the entire marked region",
"retract cleanly"
],
"quality_rule": "Discard and repeat demonstrations with contact loss, collision, long pauses, teleoperation glitches, or a substantially different wiping strategy."
},
"episodes": [
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"read_aloud": "Episode 1. Place a small square at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
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"mark_type": "small_square",
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"must_be_identical_every_episode": true
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{
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"purpose": "Central-left baseline",
"read_aloud": "Episode 2. Place a small square at the center, around X 0.40, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
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"mark_type": "small_square",
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{
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"purpose": "Central-right baseline",
"read_aloud": "Episode 3. Place a small square at the center, around X 0.60, Y 0.50. Start from the fixed wiping home pose. ",
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"mark_center_norm": {
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"y": 0.5
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{
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"split": "train",
"purpose": "Lower-center baseline",
"read_aloud": "Episode 4. Place a small square at the center, around X 0.50, Y 0.40. Start from the fixed wiping home pose. ",
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"mark_center_norm": {
"x": 0.5,
"y": 0.4
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{
"episode_id": 5,
"split": "train",
"purpose": "Upper-center baseline",
"read_aloud": "Episode 5. Place a small square at the center, around X 0.50, Y 0.60. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.6
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"mark_type": "small_square",
"mark_size_class": "small",
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"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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{
"episode_id": 6,
"split": "train",
"purpose": "Lower-left workspace",
"read_aloud": "Episode 6. Place a medium square at the lower left, around X 0.30, Y 0.30. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.3
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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{
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"split": "train",
"purpose": "Lower-center workspace",
"read_aloud": "Episode 7. Place a medium square at the lower center, around X 0.50, Y 0.30. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.3
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"wiper_start": {
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{
"episode_id": 8,
"split": "train",
"purpose": "Lower-right workspace",
"read_aloud": "Episode 8. Place a medium square at the lower right, around X 0.70, Y 0.30. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.3
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"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
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"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
{
"episode_id": 9,
"split": "train",
"purpose": "Middle-left workspace",
"read_aloud": "Episode 9. Place a medium square at the middle left, around X 0.30, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
{
"episode_id": 10,
"split": "train",
"purpose": "Middle-right workspace",
"read_aloud": "Episode 10. Place a medium square at the middle right, around X 0.70, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
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},
{
"episode_id": 11,
"split": "train",
"purpose": "Upper-left workspace",
"read_aloud": "Episode 11. Place a medium square at the upper left, around X 0.30, Y 0.70. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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}
},
{
"episode_id": 12,
"split": "train",
"purpose": "Upper-center workspace",
"read_aloud": "Episode 12. Place a medium square at the upper center, around X 0.50, Y 0.70. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
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}
},
{
"episode_id": 13,
"split": "train",
"purpose": "Upper-right workspace",
"read_aloud": "Episode 13. Place a medium square at the upper right, around X 0.70, Y 0.70. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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}
},
{
"episode_id": 14,
"split": "train",
"purpose": "Short horizontal line",
"read_aloud": "Episode 14. Place a small horizontal line at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "horizontal_line",
"mark_size_class": "small",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
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}
},
{
"episode_id": 15,
"split": "train",
"purpose": "Long horizontal line",
"read_aloud": "Episode 15. Place a large horizontal line at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
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}
},
{
"episode_id": 16,
"split": "train",
"purpose": "Short vertical line",
"read_aloud": "Episode 16. Place a small vertical line at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "small",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
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}
},
{
"episode_id": 17,
"split": "train",
"purpose": "Long vertical line",
"read_aloud": "Episode 17. Place a large vertical line at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
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}
},
{
"episode_id": 18,
"split": "train",
"purpose": "Wide geometry",
"read_aloud": "Episode 18. Place a medium wide rectangle at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
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}
},
{
"episode_id": 19,
"split": "train",
"purpose": "Tall geometry",
"read_aloud": "Episode 19. Place a medium tall rectangle at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
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}
},
{
"episode_id": 20,
"split": "train",
"purpose": "Irregular central mark",
"read_aloud": "Episode 20. Place a medium irregular scribble at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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},
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}
},
{
"episode_id": 21,
"split": "train",
"purpose": "Near left-lower boundary",
"read_aloud": "Episode 21. Place a medium square at the lower left, around X 0.20, Y 0.30. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.2,
"y": 0.3
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
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},
{
"episode_id": 22,
"split": "train",
"purpose": "Near left boundary",
"read_aloud": "Episode 22. Place a medium square at the middle left, around X 0.20, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.2,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
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"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 23,
"split": "train",
"purpose": "Near left-upper boundary",
"read_aloud": "Episode 23. Place a medium square at the upper left, around X 0.20, Y 0.70. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.2,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 24,
"split": "train",
"purpose": "Near right-lower boundary",
"read_aloud": "Episode 24. Place a medium square at the lower right, around X 0.80, Y 0.30. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.8,
"y": 0.3
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 25,
"split": "train",
"purpose": "Near right boundary",
"read_aloud": "Episode 25. Place a medium square at the middle right, around X 0.80, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.8,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 26,
"split": "train",
"purpose": "Near right-upper boundary",
"read_aloud": "Episode 26. Place a medium square at the upper right, around X 0.80, Y 0.70. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.8,
"y": 0.7
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 27,
"split": "train",
"purpose": "Near bottom-left",
"read_aloud": "Episode 27. Place a medium wide rectangle at the lower left, around X 0.30, Y 0.20. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.2
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 28,
"split": "train",
"purpose": "Near bottom",
"read_aloud": "Episode 28. Place a medium wide rectangle at the lower center, around X 0.50, Y 0.20. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.2
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 29,
"split": "train",
"purpose": "Near bottom-right",
"read_aloud": "Episode 29. Place a medium wide rectangle at the lower right, around X 0.70, Y 0.20. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.2
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 30,
"split": "train",
"purpose": "Near top-left",
"read_aloud": "Episode 30. Place a medium wide rectangle at the upper left, around X 0.30, Y 0.80. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.8
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 31,
"split": "train",
"purpose": "Near top",
"read_aloud": "Episode 31. Place a medium wide rectangle at the upper center, around X 0.50, Y 0.80. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.8
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 32,
"split": "train",
"purpose": "Near top-right",
"read_aloud": "Episode 32. Place a medium wide rectangle at the upper right, around X 0.70, Y 0.80. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.8
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 33,
"split": "train",
"purpose": "Large lower-left patch",
"read_aloud": "Episode 33. Place a large irregular patch at the lower left, around X 0.35, Y 0.35. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 34,
"split": "train",
"purpose": "Large lower-right patch",
"read_aloud": "Episode 34. Place a large irregular patch at the lower right, around X 0.65, Y 0.35. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 35,
"split": "train",
"purpose": "Large upper-left patch",
"read_aloud": "Episode 35. Place a large irregular patch at the upper left, around X 0.35, Y 0.65. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 36,
"split": "train",
"purpose": "Large upper-right patch",
"read_aloud": "Episode 36. Place a large irregular patch at the upper right, around X 0.65, Y 0.65. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 37,
"split": "train",
"purpose": "Large central patch",
"read_aloud": "Episode 37. Place a large irregular patch at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 38,
"split": "train",
"purpose": "Multiple nearby marks left",
"read_aloud": "Episode 38. Place a medium two nearby marks at the middle left, around X 0.35, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.5
},
"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 39,
"split": "train",
"purpose": "Multiple nearby marks right",
"read_aloud": "Episode 39. Place a medium two nearby marks at the middle right, around X 0.65, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.5
},
"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 40,
"split": "train",
"purpose": "Multiple central marks",
"read_aloud": "Episode 40. Place a medium three nearby marks at the center, around X 0.50, Y 0.50. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "three_nearby_marks",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 41,
"split": "validation",
"purpose": "Held-out upper-interior irregular mark",
"read_aloud": "Validation Episode 41. Place a medium irregular scribble at the upper center, around X 0.42, Y 0.72. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.42,
"y": 0.72
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 42,
"split": "validation",
"purpose": "Held-out right-interior tall mark",
"read_aloud": "Validation Episode 42. Place a medium tall rectangle at the middle right, around X 0.72, Y 0.42. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.72,
"y": 0.42
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 43,
"split": "validation",
"purpose": "Held-out left-upper long line",
"read_aloud": "Validation Episode 43. Place a large horizontal line at the upper left, around X 0.28, Y 0.62. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.28,
"y": 0.62
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 44,
"split": "validation",
"purpose": "Held-out lower-right large patch",
"read_aloud": "Validation Episode 44. Place a large irregular patch at the lower right, around X 0.62, Y 0.28. Start from the fixed wiping home pose. ",
"planned": {
"mark_center_norm": {
"x": 0.62,
"y": 0.28
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"wiper_start": {
"type": "fixed",
"pose_id": "wiping_home",
"must_be_identical_every_episode": true
}
},
"record_after_episode": {
"success": null,
"qa_grade": null,
"mark_removed_fraction": null,
"contact_loss": null,
"unexpected_pause": null,
"collision": null,
"operator_notes": null
}
}
],
"summary": {
"training_count": 40,
"validation_count": 4,
"total_count": 44,
"wiper_initial_position_varied": false
}
}
}
}Citation
BibTeX:
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