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Datasets:
XDUImageLab
/
SandGO

Tasks:
Robotics
Modalities:
Image
Languages:
English
Chinese
Tags:
robotics
long-horizon
multi-modal
License:
Dataset card Data Studio Files
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 Community
HQuanShaWu commited on
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  1. episodes/episode_000041/meta.json +16 -0
  2. episodes/episode_000041/meta_instructions.txt +4 -0
  3. episodes/episode_000049/meta.json +15 -0
  4. episodes/episode_000049/meta_instructions.txt +3 -0
  5. episodes/episode_000069/meta.json +16 -0
  6. episodes/episode_000069/meta_instructions.txt +4 -0
  7. episodes/episode_000107/meta.json +16 -0
  8. episodes/episode_000107/meta_instructions.txt +4 -0
  9. episodes/episode_000128/depths/step_000000.npy +3 -0
  10. episodes/episode_000128/depths/step_000001.npy +3 -0
  11. episodes/episode_000128/depths/step_000003.npy +3 -0
  12. episodes/episode_000128/depths/step_000005.npy +3 -0
  13. episodes/episode_000128/depths/step_000007.npy +3 -0
  14. episodes/episode_000128/depths/step_000010.npy +3 -0
  15. episodes/episode_000128/depths/step_000015.npy +3 -0
  16. episodes/episode_000128/depths/step_000016.npy +3 -0
  17. episodes/episode_000128/depths/step_000017.npy +3 -0
  18. episodes/episode_000128/depths/step_000019.npy +3 -0
  19. episodes/episode_000128/depths/step_000022.npy +3 -0
  20. episodes/episode_000128/depths/step_000024.npy +3 -0
  21. episodes/episode_000128/depths/step_000027.npy +3 -0
  22. episodes/episode_000128/depths/step_000028.npy +3 -0
  23. episodes/episode_000128/depths/step_000029.npy +3 -0
  24. episodes/episode_000128/depths/step_000031.npy +3 -0
  25. episodes/episode_000128/depths/step_000032.npy +3 -0
  26. episodes/episode_000128/depths/step_000033.npy +3 -0
  27. episodes/episode_000128/depths/step_000034.npy +3 -0
  28. episodes/episode_000128/depths/step_000035.npy +3 -0
  29. episodes/episode_000128/depths/step_000036.npy +3 -0
  30. episodes/episode_000128/depths/step_000038.npy +3 -0
  31. episodes/episode_000128/depths/step_000042.npy +3 -0
  32. episodes/episode_000128/depths/step_000043.npy +3 -0
  33. episodes/episode_000128/depths/step_000044.npy +3 -0
  34. episodes/episode_000128/depths/step_000046.npy +3 -0
  35. episodes/episode_000128/depths/step_000048.npy +3 -0
  36. episodes/episode_000128/depths/step_000052.npy +3 -0
  37. episodes/episode_000128/depths/step_000054.npy +3 -0
  38. episodes/episode_000128/depths/step_000058.npy +3 -0
  39. episodes/episode_000128/depths/step_000059.npy +3 -0
  40. episodes/episode_000128/depths/step_000060.npy +3 -0
  41. episodes/episode_000128/depths/step_000062.npy +3 -0
  42. episodes/episode_000128/depths/step_000064.npy +3 -0
  43. episodes/episode_000128/depths/step_000065.npy +3 -0
  44. episodes/episode_000128/depths/step_000067.npy +3 -0
  45. episodes/episode_000128/depths/step_000069.npy +3 -0
  46. episodes/episode_000128/depths/step_000070.npy +3 -0
  47. episodes/episode_000128/depths/step_000072.npy +3 -0
  48. episodes/episode_000128/depths/step_000074.npy +3 -0
  49. episodes/episode_000128/depths/step_000075.npy +3 -0
  50. episodes/episode_000128/depths/step_000077.npy +3 -0
episodes/episode_000041/meta.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
2
+ "task": "Cruise_C",
3
+ "original_episode": "episode_42",
4
+ "num_steps": 32,
5
+ "num_meta_actions": 4,
6
+ "state_dim": 15,
7
+ "action_dim": 15,
8
+ "num_points": 4096,
9
+ "instruction_format": "raw_text_per_meta",
10
+ "meta_actions": [
11
+ "1_move_forward",
12
+ "2_turn_right_360_degrees",
13
+ "3_corss_hill",
14
+ "4_move_forward"
15
+ ]
16
+ }
episodes/episode_000041/meta_instructions.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ Move forward to the sand pile with wood and white cloth. being careful not to hit them.
2
+ Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
3
+ Go around to the back of the mound of wood and white cloth from the right, and be careful not to touch the sand pile during the process.
4
+ Move forward to the location of the red marker object.
episodes/episode_000049/meta.json ADDED
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+ {
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+ "task": "Cruise_C",
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+ "original_episode": "episode_50",
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+ "num_steps": 14,
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+ "num_meta_actions": 3,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
11
+ "1_move_forward",
12
+ "2_turn_left_360_degrees",
13
+ "3_cross_hill"
14
+ ]
15
+ }
episodes/episode_000049/meta_instructions.txt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ Move forward to the sand pile with wood and white cloth. being careful not to hit them.
2
+ Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
3
+ Cross around the mound with wood from the left side, and then move to the location of the red marker object
episodes/episode_000069/meta.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "task": "sample",
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+ "original_episode": "episode_19",
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+ "num_steps": 327,
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+ "num_meta_actions": 4,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
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+ "1_move_forward",
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+ "2_grasp_stone",
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+ "3_move_to_container",
14
+ "4_place_stone_to_container"
15
+ ]
16
+ }
episodes/episode_000069/meta_instructions.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ Move forward to the front of the sampling point located at the center of the sand table,being careful not to bump into any obstacles.
2
+ Grab the stone for sampling and pick it up,being careful not to grab too tightly or too loosely.
3
+ Walk a distance back and then turn right until you reach the container where the sample is placed
4
+ Place the sample stone into the container,being careful not to place too fast or slowly.
episodes/episode_000107/meta.json ADDED
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+ {
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+ "task": "sample",
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+ "original_episode": "episode_53",
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+ "num_steps": 312,
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+ "num_meta_actions": 4,
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+ "state_dim": 15,
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+ "action_dim": 15,
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+ "num_points": 4096,
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+ "instruction_format": "raw_text_per_meta",
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+ "meta_actions": [
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+ "1_move_forward",
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+ "2_grasp_branch",
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+ "3_move_to_container",
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+ "4_place_branch_to_container"
15
+ ]
16
+ }
episodes/episode_000107/meta_instructions.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ 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.
2
+ Grasp the branch located at the mound. Then lift the branch. Be careful not to grip too tightly or too loosely.
3
+ Walk backward from the sampling point, then turn left in place, move forward,then turn right until the container is detected, then move to the container where the sample was placed.
4
+ Place the branch into the container, being careful not to put it in too fast or too slow.
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