lucazanett/wiping_baseline_low_stiff
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "custom_manipulator", "total_episodes": 44, "total_frames": 58083, "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_baseline_low_stiff.
0230
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=lucazanett/wipingbaselinelowstiff"> <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": 58083,
"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": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation_6d.0",
"orientation_6d.1",
"orientation_6d.2",
"orientation_6d.3",
"orientation_6d.4",
"orientation_6d.5",
"gripper"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation_6d.0",
"orientation_6d.1",
"orientation_6d.2",
"orientation_6d.3",
"orientation_6d.4",
"orientation_6d.5",
"gripper",
"gripper_force",
"obj_detected"
],
"shape": [
12
]
},
"observation.images.wrist_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.behind_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.environment_state": {
"dtype": "float32",
"names": [
"ft_fx",
"ft_fy",
"ft_fz",
"ft_tx",
"ft_ty",
"ft_tz"
],
"shape": [
6
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"recording_strategy": {
"source_file": "/home/lzanetti/workspaces/lerobot_teleop_ws/recording_strategy/whiteboard_wiping_44episodes_multistroke_fixed_start.json",
"strategy": {
"dataset_name": "whiteboard_wiping_act_v3_multistroke_44episodes",
"version": "3.0",
"purpose": "40 training + 4 validation episodes biased toward larger marks requiring two or more wiping strokes.",
"split": {
"training_episode_ids": [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40
],
"validation_episode_ids": [
41,
42,
43,
44
],
"validation_usage": "Validation only; exclude from training and normalization statistics."
},
"fixed_conditions": {
"wiper_initial_pose": "wiping_home; identical every episode",
"wiper_initial_position_varied": false,
"wiper_tool": "fixed",
"wiper_grasp": "fixed",
"camera_mounts": "fixed",
"wiping_strategy": "horizontal raster"
},
"dataset_balance": {
"training_single_stroke_or_short": 8,
"training_multi_stroke": 32,
"validation_multi_stroke": 4,
"note": "Multi-stroke marks must genuinely be large enough to require the requested number of passes."
},
"episodes": [
{
"episode_id": 1,
"split": "train",
"purpose": "Central baseline",
"read_aloud": "Episode 1. Place a small square at the center, around X 0.50, Y 0.50. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "small_square",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 2,
"split": "train",
"purpose": "Left baseline",
"read_aloud": "Episode 2. Place a small square at the middle left, around X 0.35, Y 0.50. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.5
},
"mark_type": "small_square",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 3,
"split": "train",
"purpose": "Right baseline",
"read_aloud": "Episode 3. Place a small square at the middle right, around X 0.65, Y 0.50. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.5
},
"mark_type": "small_square",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 4,
"split": "train",
"purpose": "Lower baseline",
"read_aloud": "Episode 4. Place a small square at the lower center, around X 0.50, Y 0.35. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.35
},
"mark_type": "small_square",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 5,
"split": "train",
"purpose": "Upper baseline",
"read_aloud": "Episode 5. Place a small square at the upper center, around X 0.50, Y 0.65. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.65
},
"mark_type": "small_square",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 6,
"split": "train",
"purpose": "Lower-left short mark",
"read_aloud": "Episode 6. Place a small horizontal line at the lower left, around X 0.30, Y 0.30. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.3
},
"mark_type": "horizontal_line",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 7,
"split": "train",
"purpose": "Lower-right short mark",
"read_aloud": "Episode 7. Place a small horizontal line at the lower right, around X 0.70, Y 0.30. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.3
},
"mark_type": "horizontal_line",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 8,
"split": "train",
"purpose": "Upper short mark",
"read_aloud": "Episode 8. Place a small irregular scribble at the upper center, around X 0.50, Y 0.75. Use at least 1 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.75
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"expected_min_strokes": 1,
"multi_stroke_required": false,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 9,
"split": "train",
"purpose": "Lower-left two-stroke patch",
"read_aloud": "Episode 9. Place a medium wide rectangle at the lower left, around X 0.30, Y 0.30. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.3
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 10,
"split": "train",
"purpose": "Lower-center two-stroke patch",
"read_aloud": "Episode 10. Place a medium wide rectangle at the lower center, around X 0.50, Y 0.30. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.3
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 11,
"split": "train",
"purpose": "Lower-right two-stroke patch",
"read_aloud": "Episode 11. Place a medium wide rectangle at the lower right, around X 0.70, Y 0.30. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.3
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 12,
"split": "train",
"purpose": "Middle-left two-stroke patch",
"read_aloud": "Episode 12. Place a medium wide rectangle at the middle left, around X 0.30, Y 0.50. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 13,
"split": "train",
"purpose": "Middle-right two-stroke patch",
"read_aloud": "Episode 13. Place a medium wide rectangle at the middle right, around X 0.70, Y 0.50. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 14,
"split": "train",
"purpose": "Upper-left two-stroke patch",
"read_aloud": "Episode 14. Place a medium wide rectangle at the upper left, around X 0.30, Y 0.70. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.7
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 15,
"split": "train",
"purpose": "Upper-center two-stroke patch",
"read_aloud": "Episode 15. Place a medium wide rectangle at the upper center, around X 0.50, Y 0.70. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.7
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 16,
"split": "train",
"purpose": "Upper-right two-stroke patch",
"read_aloud": "Episode 16. Place a medium wide rectangle at the upper right, around X 0.70, Y 0.70. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.7
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 17,
"split": "train",
"purpose": "Left-edge two-stroke mark",
"read_aloud": "Episode 17. Place a medium irregular scribble at the middle left, around X 0.20, Y 0.50. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.2,
"y": 0.5
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 18,
"split": "train",
"purpose": "Right-edge two-stroke mark",
"read_aloud": "Episode 18. Place a medium irregular scribble at the middle right, around X 0.80, Y 0.50. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.8,
"y": 0.5
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 19,
"split": "train",
"purpose": "Bottom two-stroke mark",
"read_aloud": "Episode 19. Place a medium tall rectangle at the lower center, around X 0.50, Y 0.20. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.2
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 20,
"split": "train",
"purpose": "Top two-stroke mark",
"read_aloud": "Episode 20. Place a medium tall rectangle at the upper center, around X 0.50, Y 0.80. Use at least 2 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.8
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"expected_min_strokes": 2,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 21,
"split": "train",
"purpose": "Large lower-left patch",
"read_aloud": "Episode 21. Place a large irregular patch at the lower left, around X 0.35, Y 0.35. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 22,
"split": "train",
"purpose": "Large lower-right patch",
"read_aloud": "Episode 22. Place a large irregular patch at the lower right, around X 0.65, Y 0.35. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 23,
"split": "train",
"purpose": "Large upper-left patch",
"read_aloud": "Episode 23. Place a large irregular patch at the upper left, around X 0.35, Y 0.65. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 24,
"split": "train",
"purpose": "Large upper-right patch",
"read_aloud": "Episode 24. Place a large irregular patch at the upper right, around X 0.65, Y 0.65. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 25,
"split": "train",
"purpose": "Large central patch",
"read_aloud": "Episode 25. Place a large irregular patch at the center, around X 0.50, Y 0.50. Use at least 4 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 4,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 26,
"split": "train",
"purpose": "Large left patch",
"read_aloud": "Episode 26. Place a large wide rectangle at the middle left, around X 0.25, Y 0.50. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.25,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 27,
"split": "train",
"purpose": "Large right patch",
"read_aloud": "Episode 27. Place a large wide rectangle at the middle right, around X 0.75, Y 0.50. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.75,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 28,
"split": "train",
"purpose": "Large bottom patch",
"read_aloud": "Episode 28. Place a large wide rectangle at the lower center, around X 0.50, Y 0.25. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.25
},
"mark_type": "wide_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 29,
"split": "train",
"purpose": "Large top patch",
"read_aloud": "Episode 29. Place a large wide rectangle at the upper center, around X 0.50, Y 0.75. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.75
},
"mark_type": "wide_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 30,
"split": "train",
"purpose": "Large top-left boundary patch",
"read_aloud": "Episode 30. Place a large irregular patch at the upper left, around X 0.30, Y 0.80. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.3,
"y": 0.8
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 31,
"split": "train",
"purpose": "Large top-right boundary patch",
"read_aloud": "Episode 31. Place a large irregular patch at the upper right, around X 0.70, Y 0.80. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.7,
"y": 0.8
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 32,
"split": "train",
"purpose": "Large tall central area",
"read_aloud": "Episode 32. Place a large tall rectangle at the center, around X 0.50, Y 0.50. Use at least 4 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "tall_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 4,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 33,
"split": "train",
"purpose": "Two nearby large marks left",
"read_aloud": "Episode 33. Place a large two nearby marks at the middle left, around X 0.35, Y 0.50. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.35,
"y": 0.5
},
"mark_type": "two_nearby_marks",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 34,
"split": "train",
"purpose": "Two nearby large marks right",
"read_aloud": "Episode 34. Place a large two nearby marks at the middle right, around X 0.65, Y 0.50. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.65,
"y": 0.5
},
"mark_type": "two_nearby_marks",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 35,
"split": "train",
"purpose": "Three nearby lower marks",
"read_aloud": "Episode 35. Place a large three nearby marks at the lower center, around X 0.50, Y 0.35. Use at least 4 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.35
},
"mark_type": "three_nearby_marks",
"mark_size_class": "large",
"expected_min_strokes": 4,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 36,
"split": "train",
"purpose": "Three nearby upper marks",
"read_aloud": "Episode 36. Place a large three nearby marks at the upper center, around X 0.50, Y 0.65. Use at least 4 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.65
},
"mark_type": "three_nearby_marks",
"mark_size_class": "large",
"expected_min_strokes": 4,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 37,
"split": "train",
"purpose": "Very large center-left patch",
"read_aloud": "Episode 37. Place a very large patch at the center, around X 0.40, Y 0.50. Use at least 5 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.4,
"y": 0.5
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"expected_min_strokes": 5,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 38,
"split": "train",
"purpose": "Very large center-right patch",
"read_aloud": "Episode 38. Place a very large patch at the center, around X 0.60, Y 0.50. Use at least 5 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.6,
"y": 0.5
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"expected_min_strokes": 5,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 39,
"split": "train",
"purpose": "Very large lower-center patch",
"read_aloud": "Episode 39. Place a very large patch at the center, around X 0.50, Y 0.40. Use at least 5 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.4
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"expected_min_strokes": 5,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 40,
"split": "train",
"purpose": "Very large upper-center patch",
"read_aloud": "Episode 40. Place a very large patch at the center, around X 0.50, Y 0.60. Use at least 5 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.5,
"y": 0.6
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"expected_min_strokes": 5,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 41,
"split": "validation",
"purpose": "Held-out upper large patch",
"read_aloud": "Validation Episode 41. Place a large irregular patch at the upper center, around X 0.42, Y 0.72. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.42,
"y": 0.72
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 42,
"split": "validation",
"purpose": "Held-out right large patch",
"read_aloud": "Validation Episode 42. Place a large wide rectangle at the middle right, around X 0.72, Y 0.42. Use at least 3 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.72,
"y": 0.42
},
"mark_type": "wide_rectangle",
"mark_size_class": "large",
"expected_min_strokes": 3,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 43,
"split": "validation",
"purpose": "Held-out multi-region condition",
"read_aloud": "Validation Episode 43. Place a large three nearby marks at the upper left, around X 0.28, Y 0.62. Use at least 4 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.28,
"y": 0.62
},
"mark_type": "three_nearby_marks",
"mark_size_class": "large",
"expected_min_strokes": 4,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
},
{
"episode_id": 44,
"split": "validation",
"purpose": "Held-out very large patch",
"read_aloud": "Validation Episode 44. Place a very large patch at the lower right, around X 0.62, Y 0.28. Use at least 5 horizontal raster strokes with steady contact. ",
"planned": {
"mark_center_norm": {
"x": 0.62,
"y": 0.28
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"expected_min_strokes": 5,
"multi_stroke_required": true,
"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,
"actual_stroke_count": null,
"contact_loss": null,
"collision": null,
"operator_notes": null
}
}
],
"summary": {
"training_count": 40,
"validation_count": 4,
"total_count": 44,
"training_multi_stroke_count": 32,
"validation_multi_stroke_count": 4,
"wiper_initial_position_varied": false
}
}
}
}Citation
BibTeX:
[More Information Needed]