diff --git a/episodes/episode_000001/meta.json b/episodes/episode_000001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc8c19c31b40b6f8e26ea655aaab9314e1118a6 --- /dev/null +++ b/episodes/episode_000001/meta.json @@ -0,0 +1,19 @@ +{ + "task": "Cruise_A", + "original_episode": "episode_10", + "num_steps": 24, + "num_meta_actions": 7, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move to hill", + "2_turn left 90 degrees", + "3_turn left 90 degrees", + "4_turn left 90 degrees", + "5_turn left 90 degrees", + "6_crossing _hill", + "7_move to boundary" + ] +} \ No newline at end of file diff --git a/episodes/episode_000001/meta_instructions.txt b/episodes/episode_000001/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a6ed27e692b06c4dbaabc6f9e19c7f4056a926d --- /dev/null +++ b/episodes/episode_000001/meta_instructions.txt @@ -0,0 +1,7 @@ +Walk forward to the sand pile in front, be careful not to bump into it. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Go around to the back of the sand piles from the left, and be careful not to touch the sand pile during the process. +Move to the boundary of the sand table until you can no longer move forward. diff --git a/episodes/episode_000003/meta.json b/episodes/episode_000003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3220bc9574e04072421ee426d7f301766c03c943 --- /dev/null +++ b/episodes/episode_000003/meta.json @@ -0,0 +1,19 @@ +{ + "task": "Cruise_A", + "original_episode": "episode_12", + "num_steps": 25, + "num_meta_actions": 7, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move to hill", + "2_turn left 90 degrees", + "3_turn left 90 degrees", + "4_turn left 90 degrees", + "5_turn left 90 degrees", + "6_crossing_hill", + "7_move to boundary" + ] +} \ No newline at end of file diff --git a/episodes/episode_000003/meta_instructions.txt b/episodes/episode_000003/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a6ed27e692b06c4dbaabc6f9e19c7f4056a926d --- /dev/null +++ b/episodes/episode_000003/meta_instructions.txt @@ -0,0 +1,7 @@ +Walk forward to the sand pile in front, be careful not to bump into it. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Turn left 90 degrees on the spot. +Go around to the back of the sand piles from the left, and be careful not to touch the sand pile during the process. +Move to the boundary of the sand table until you can no longer move forward. diff --git a/episodes/episode_000006/meta.json b/episodes/episode_000006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aea5cce35b57be69c11d8dbd5fe4bb27f06e0e77 --- /dev/null +++ b/episodes/episode_000006/meta.json @@ -0,0 +1,19 @@ +{ + "task": "Cruise_A", + "original_episode": "episode_15", + "num_steps": 25, + "num_meta_actions": 7, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move to hill", + "2_turn right 90 degrees", + "3_turn right 90 degrees", + "4_turn right 90 degrees", + "5_turn right 90 degrees", + "6_cross hill", + "7_move forward" + ] +} \ No newline at end of file diff --git a/episodes/episode_000006/meta_instructions.txt b/episodes/episode_000006/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..cbb4911fbdfb406d55cc3de811539ae9a6fbce9c --- /dev/null +++ b/episodes/episode_000006/meta_instructions.txt @@ -0,0 +1,7 @@ +Move forward to the sand pile with wood and a bottle, being careful not to hit the sand pile +Turn right 90 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"2_turn_left_360_degrees", + "3_cross_wood", + "4_move_forward", + "5_turn_left_90_degrees", + "6_move_forward", + "7_turn_left_360_degrees", + "8_corss_hill", + "9_move_forward", + "10_turn_left_90_degrees" + ] +} \ No newline at end of file diff --git a/episodes/episode_000035/meta_instructions.txt b/episodes/episode_000035/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..a25f5157b66f596c4633f6d464441d38d5c7782a --- /dev/null +++ b/episodes/episode_000035/meta_instructions.txt @@ -0,0 +1,10 @@ +Move to the front of the pile of wood and rocks, being careful not to hit the pile. +Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees +Go around to the back of the pile of wood and rocks from the left, and be careful not to touch the sand pile during the process. +Move forward along the edge of the sandbox to the corner of the sandbox +Turn left 90 degrees on the spot +Move to the front of the sand pile with wood and rocks, being careful not to hit the sand pile. +Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees +Cross around the small mound from the left side +Move forward along the edge of the sandbox to the corner of the sandbox +Turn left 90 degrees on the spot diff --git a/episodes/episode_000050/meta.json b/episodes/episode_000050/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..246b863d20b925842cfedd117dbab2620f1ac1d6 --- /dev/null +++ b/episodes/episode_000050/meta.json @@ -0,0 +1,15 @@ +{ + "task": "Cruise_C", + "original_episode": "episode_51", + "num_steps": 14, + "num_meta_actions": 3, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_forward", + "2_turn_right_360_degrees", + "3_cross_hill" + ] +} \ No newline at end of file diff --git a/episodes/episode_000050/meta_instructions.txt b/episodes/episode_000050/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e2d9931c68cc2b3de493a92ca39e084b70e486e --- /dev/null +++ b/episodes/episode_000050/meta_instructions.txt @@ -0,0 +1,3 @@ +Move forward to the mound of wood and white cloth, being careful not to hit them. +Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees +Cross around mound with wood and white cloth from the right side, and then move to the red marker object diff --git a/episodes/episode_000056/meta.json b/episodes/episode_000056/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f0bef8b97c0430977110b3694c3b8384ae6a28 --- /dev/null +++ b/episodes/episode_000056/meta.json @@ -0,0 +1,15 @@ +{ + "task": "Cruise_C", + "original_episode": "episode_57", + "num_steps": 42, + "num_meta_actions": 3, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_turn_left_360_degrees", + "2_cross_hill", + "3_move_forward" + ] +} \ No newline at end of file diff --git a/episodes/episode_000056/meta_instructions.txt b/episodes/episode_000056/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..dbbc0b2fe6d02bb752fd9b60e7956c4f4ea71ddb --- /dev/null +++ b/episodes/episode_000056/meta_instructions.txt @@ -0,0 +1,3 @@ +Rotate 360 degrees to the left and stay in place for about one second every 90 degrees +Cross a pile of wood and rocks on the right side + Move forward to red marker object. diff --git a/episodes/episode_000102/meta.json b/episodes/episode_000102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db9149799554b31581d7edcb73f9629280b6ff91 --- /dev/null +++ b/episodes/episode_000102/meta.json @@ -0,0 +1,16 @@ +{ + "task": "sample", + "original_episode": "episode_49", + "num_steps": 258, + "num_meta_actions": 4, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_forward", + "2_grasp_bottle", + "3_move_to_container", + "4_place_bottle_to_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000102/meta_instructions.txt b/episodes/episode_000102/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..40ea4700bd3e4dfe7209ad108b30a5348b4eafaf --- /dev/null +++ b/episodes/episode_000102/meta_instructions.txt @@ -0,0 +1,4 @@ +Move straight to the front of the sampling point located on the mound at the center of the sandbox, taking care not to bump into any obstacles. +Grasp the bottle located at the mound. Then lift the bottle. Be careful not to grip too tightly or too loosely. +Walk backward from the sampling point, then turn right in place, move forward,then turn left until the container is detected, then move to the container where the sample was placed. +Place the bottle into the container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000118/meta.json b/episodes/episode_000118/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0666750f1c98d5aaec443caf46b1d264a55c9f0 --- /dev/null +++ b/episodes/episode_000118/meta.json @@ -0,0 +1,20 @@ +{ + "task": "sample", + "original_episode": "episode_72", + "num_steps": 1087, + "num_meta_actions": 8, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_forward", + "2_grasp_bottle", + "3_move_to_pink_container", + "4_place_bottle_to_pink_container", + "5_move_to_sampling_point", + "6_grasp_wood", + "7_search_for_black_container", + "8_place_wood_to_black_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000118/meta_instructions.txt b/episodes/episode_000118/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..629d476ab4de31f0e2bf9347830c615b91f4b4e2 --- /dev/null +++ b/episodes/episode_000118/meta_instructions.txt @@ -0,0 +1,8 @@ +Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles. +Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely. +Turn left in place, then move forward to the pink container where the sample should be placed, taking care not to bump into any obstacles. +Place the bottle into the pink container, being careful not to put it in too fast or too slow. +Turn right in place until the sampling point is detected, then move to the sampling point where the wood was. +Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely. +Walk backward from the sampling point, then turn right in place, go around the flat mound of sand, then turn left until the black container is detected, then move to the black container where the wooden block should be placed. +Place the wooden block into the black container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000122/meta.json b/episodes/episode_000122/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a961809695b3e6d3ec8858870846c89906b2182 --- /dev/null +++ b/episodes/episode_000122/meta.json @@ -0,0 +1,16 @@ +{ + "task": "sample", + "original_episode": "episode_76", + "num_steps": 272, + "num_meta_actions": 4, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_forward", + "2_grasp_bottle", + "3_search_for_and_move_to_cyan_container", + "4_place_bottle_to_cyan_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000122/meta_instructions.txt b/episodes/episode_000122/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e62aaac754f7ab346ccb66bfcb56327c4746309 --- /dev/null +++ b/episodes/episode_000122/meta_instructions.txt @@ -0,0 +1,4 @@ +Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles. +Grasp the bottle located at the flat hill. 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Be careful not to grip too tightly or too loosely. +Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container where the bottle should be placed. +Place the bottle into the cyan container and retract arm, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000128/depths/step_000002.npy b/episodes/episode_000128/depths/step_000002.npy new file mode 100644 index 0000000000000000000000000000000000000000..65beaf39fb356c763044c5454fd5af2f57db6c51 --- /dev/null +++ b/episodes/episode_000128/depths/step_000002.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8010d9ebe796e62cd3da7f58633f66212d61eb3fb1d4983a2a5ef7e200f321a +size 49280 diff --git a/episodes/episode_000128/depths/step_000004.npy b/episodes/episode_000128/depths/step_000004.npy new file mode 100644 index 0000000000000000000000000000000000000000..426d652a6fbf0b9bb534d3c95274bce8ba677738 --- /dev/null +++ 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sha256:d316ad94109112f3ee12365b881d1bd238c157b00b738899dd3b410136c89681 +size 91990 diff --git a/episodes/episode_000128/images_wrist/step_000188.jpg b/episodes/episode_000128/images_wrist/step_000188.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ffa58956f41cb82eda7f59d51ce0b20b57730f74 --- /dev/null +++ b/episodes/episode_000128/images_wrist/step_000188.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d77ceb028042f9da424238ad6ed21267c8417d4f569b82d78dbf2aa952d5b550 +size 91604 diff --git a/episodes/episode_000128/images_wrist/step_000189.jpg b/episodes/episode_000128/images_wrist/step_000189.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ffa58956f41cb82eda7f59d51ce0b20b57730f74 --- /dev/null +++ b/episodes/episode_000128/images_wrist/step_000189.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d77ceb028042f9da424238ad6ed21267c8417d4f569b82d78dbf2aa952d5b550 +size 91604 diff --git a/episodes/episode_000132/meta.json b/episodes/episode_000132/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6970fad603bf632c51ceb0cbfcf3d253558fe002 --- /dev/null +++ b/episodes/episode_000132/meta.json @@ -0,0 +1,16 @@ +{ + "task": "sample", + "original_episode": "episode_85", + "num_steps": 160, + "num_meta_actions": 4, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_forward", + "2_grasp_left_object", + "3_move_to_middle_container", + "4_place_object_to_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000132/meta_instructions.txt b/episodes/episode_000132/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6857485b6e6c94273fdd090fb96f1ba58881447 --- /dev/null +++ b/episodes/episode_000132/meta_instructions.txt @@ -0,0 +1,4 @@ +Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles. +Grasp the left object located at the flat hill. Then lift the object. Be careful not to grip too tightly or too loosely. +Turn left in place, go around the flat mound of sand until the middle container is detected, then move to the middle container. +Place the object into the middle container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000133/meta.json b/episodes/episode_000133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1ca1e64ff0a1640859db1221fef25e928e1b46 --- /dev/null +++ b/episodes/episode_000133/meta.json @@ -0,0 +1,15 @@ +{ + "task": "sample", + "original_episode": "episode_86", + "num_steps": 269, + "num_meta_actions": 3, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_to_target_place", + "2_grasp_wood", + "3_place_wood_to_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000133/meta_instructions.txt b/episodes/episode_000133/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..72a38613a087e911adad41386052f34a8e544135 --- /dev/null +++ b/episodes/episode_000133/meta_instructions.txt @@ -0,0 +1,3 @@ +Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles. +Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely. +Place the wooden block into the cyan container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000151/meta.json b/episodes/episode_000151/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4298d17cd49f1bd77ec5637f5667838165926a80 --- /dev/null +++ b/episodes/episode_000151/meta.json @@ -0,0 +1,13 @@ +{ + "task": "Place", + "original_episode": "episode_113", + "num_steps": 255, + "num_meta_actions": 1, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_place_wood_to_pink_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000151/meta_instructions.txt b/episodes/episode_000151/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..d50579db529b8e66c660c47389f749d6276fd1c3 --- /dev/null +++ b/episodes/episode_000151/meta_instructions.txt @@ -0,0 +1 @@ +Place the wooden block into the pink container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000156/meta.json b/episodes/episode_000156/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4752c8ee506925449efa34f900653cc10472c18e --- /dev/null +++ b/episodes/episode_000156/meta.json @@ -0,0 +1,13 @@ +{ + "task": "Place", + "original_episode": "episode_118", + "num_steps": 307, + "num_meta_actions": 1, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_place_wood_to_black_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000156/meta_instructions.txt b/episodes/episode_000156/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..8fc6eb1cb0c4b1df3ead0a457a5761f9bd574283 --- /dev/null +++ b/episodes/episode_000156/meta_instructions.txt @@ -0,0 +1 @@ +Place the wooden block into the black container, being careful not to put it in too fast or too slow. diff --git a/episodes/episode_000167/meta.json b/episodes/episode_000167/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04c67324f60a971e0f6346d4cb234f80555beee4 --- /dev/null +++ b/episodes/episode_000167/meta.json @@ -0,0 +1,13 @@ +{ + "task": "Search_Move_Container", + "original_episode": "episode_110", + "num_steps": 32, + "num_meta_actions": 1, + "state_dim": 15, + "action_dim": 15, + "num_points": 4096, + "instruction_format": "raw_text_per_meta", + "meta_actions": [ + "1_move_to_cyan_container" + ] +} \ No newline at end of file diff --git a/episodes/episode_000167/meta_instructions.txt b/episodes/episode_000167/meta_instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd08af1521f52fe1a3a0d1ba04a1f2fd55c6be99 --- /dev/null +++ b/episodes/episode_000167/meta_instructions.txt @@ -0,0 +1 @@ +Detect the cyan container, then move to the container, taking care not to bump into any obstacles.