Search is not available for this dataset
action listlengths 16 16 | observation.state listlengths 12 12 | observation.environment_state listlengths 6 6 | timestamp float32 0 54.5 | frame_index int64 0 2.73k | episode_index int64 0 87 | index int64 0 158k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
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"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.55,
"y": 0.5
},
"mark_type": "small_square",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 4,
"purpose": "Baseline",
"read_aloud": "Episode 4. Place a small square at the center, around X 0.50, Y 0.45. Use the nominal start pose.",
"operator_steps": [
"Place a small square near the center of the board, around normalized position X 0.50, Y 0.45.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.45
},
"mark_type": "small_square",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 5,
"purpose": "Baseline",
"read_aloud": "Episode 5. Place a small square at the center, around X 0.50, Y 0.55. Use the nominal start pose.",
"operator_steps": [
"Place a small square near the center of the board, around normalized position X 0.50, Y 0.55.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.55
},
"mark_type": "small_square",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 6,
"purpose": "Baseline",
"read_aloud": "Episode 6. Place a medium square at the center, around X 0.45, Y 0.45. Use the nominal start pose.",
"operator_steps": [
"Place a medium square near the center of the board, around normalized position X 0.45, Y 0.45.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.45,
"y": 0.45
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 7,
"purpose": "Baseline",
"read_aloud": "Episode 7. Place a medium square at the center, around X 0.55, Y 0.45. Use the nominal start pose.",
"operator_steps": [
"Place a medium square near the center of the board, around normalized position X 0.55, Y 0.45.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.55,
"y": 0.45
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 8,
"purpose": "Baseline",
"read_aloud": "Episode 8. Place a medium square at the center, around X 0.45, Y 0.55. Use the nominal start pose.",
"operator_steps": [
"Place a medium square near the center of the board, around normalized position X 0.45, Y 0.55.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.45,
"y": 0.55
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 9,
"purpose": "Baseline",
"read_aloud": "Episode 9. Place a medium square at the center, around X 0.55, Y 0.55. Use the nominal start pose.",
"operator_steps": [
"Place a medium square near the center of the board, around normalized position X 0.55, Y 0.55.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.55,
"y": 0.55
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 10,
"purpose": "Baseline",
"read_aloud": "Episode 10. Place a medium irregular scribble at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium irregular scribble near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Baseline"
},
"split": "train"
},
{
"episode_id": 11,
"purpose": "Lower-left workspace",
"read_aloud": "Episode 11. Place a medium square at the lower left, around X 0.25, Y 0.25. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower left area of the board, around normalized position X 0.25, Y 0.25.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.25
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Lower-left workspace"
},
"split": "train"
},
{
"episode_id": 12,
"purpose": "Lower-center workspace",
"read_aloud": "Episode 12. Place a medium square at the lower center, around X 0.50, Y 0.25. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower center area of the board, around normalized position X 0.50, Y 0.25.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.25
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Lower-center workspace"
},
"split": "train"
},
{
"episode_id": 13,
"purpose": "Lower-right workspace",
"read_aloud": "Episode 13. Place a medium square at the lower right, around X 0.75, Y 0.25. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower right area of the board, around normalized position X 0.75, Y 0.25.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.25
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Lower-right workspace"
},
"split": "train"
},
{
"episode_id": 14,
"purpose": "Mid-left workspace",
"read_aloud": "Episode 14. Place a medium square at the middle left, around X 0.25, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the middle left area of the board, around normalized position X 0.25, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Mid-left workspace"
},
"split": "train"
},
{
"episode_id": 15,
"purpose": "Mid-right workspace",
"read_aloud": "Episode 15. Place a medium square at the middle right, around X 0.75, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the middle right area of the board, around normalized position X 0.75, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Mid-right workspace"
},
"split": "train"
},
{
"episode_id": 16,
"purpose": "Upper-left workspace",
"read_aloud": "Episode 16. Place a medium square at the upper left, around X 0.25, Y 0.75. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper left area of the board, around normalized position X 0.25, Y 0.75.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.75
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Upper-left workspace"
},
"split": "train"
},
{
"episode_id": 17,
"purpose": "Upper-center workspace",
"read_aloud": "Episode 17. Place a medium square at the upper center, around X 0.50, Y 0.75. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper center area of the board, around normalized position X 0.50, Y 0.75.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.75
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Upper-center workspace"
},
"split": "train"
},
{
"episode_id": 18,
"purpose": "Upper-right workspace",
"read_aloud": "Episode 18. Place a medium square at the upper right, around X 0.75, Y 0.75. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper right area of the board, around normalized position X 0.75, Y 0.75.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.75
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Upper-right workspace"
},
"split": "train"
},
{
"episode_id": 19,
"purpose": "Inter-grid position",
"read_aloud": "Episode 19. Place a medium square at the upper left, around X 0.35, Y 0.65. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper left area of the board, around normalized position X 0.35, Y 0.65.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.35,
"y": 0.65
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Inter-grid position"
},
"split": "train"
},
{
"episode_id": 20,
"purpose": "Inter-grid position",
"read_aloud": "Episode 20. Place a medium square at the lower right, around X 0.65, Y 0.35. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower right area of the board, around normalized position X 0.65, Y 0.35.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.65,
"y": 0.35
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Inter-grid position"
},
"split": "train"
},
{
"episode_id": 21,
"purpose": "Small target",
"read_aloud": "Episode 21. Place a tiny mark at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a tiny mark near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "small_mark",
"mark_size_class": "tiny",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Small target"
},
"split": "train"
},
{
"episode_id": 22,
"purpose": "Width variation",
"read_aloud": "Episode 22. Place a small horizontal line at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a small horizontal line near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "horizontal_line",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Width variation"
},
"split": "train"
},
{
"episode_id": 23,
"purpose": "Long horizontal stroke",
"read_aloud": "Episode 23. Place a large horizontal line at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a large horizontal line near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Long horizontal stroke"
},
"split": "train"
},
{
"episode_id": 24,
"purpose": "Height variation",
"read_aloud": "Episode 24. Place a small vertical line at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a small vertical line near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Height variation"
},
"split": "train"
},
{
"episode_id": 25,
"purpose": "Long vertical coverage",
"read_aloud": "Episode 25. Place a large vertical line at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a large vertical line near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Long vertical coverage"
},
"split": "train"
},
{
"episode_id": 26,
"purpose": "Geometry variation",
"read_aloud": "Episode 26. Place a medium wide rectangle at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium wide rectangle near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Geometry variation"
},
"split": "train"
},
{
"episode_id": 27,
"purpose": "Geometry variation",
"read_aloud": "Episode 27. Place a medium tall rectangle at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium tall rectangle near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Geometry variation"
},
"split": "train"
},
{
"episode_id": 28,
"purpose": "Longer wiping",
"read_aloud": "Episode 28. Place a large square at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a large square near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "large_square",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Longer wiping"
},
"split": "train"
},
{
"episode_id": 29,
"purpose": "Irregular geometry",
"read_aloud": "Episode 29. Place a medium irregular scribble at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium irregular scribble near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Irregular geometry"
},
"split": "train"
},
{
"episode_id": 30,
"purpose": "Multiple local targets",
"read_aloud": "Episode 30. Place a medium two nearby marks at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium two nearby marks near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Multiple local targets"
},
"split": "train"
},
{
"episode_id": 31,
"purpose": "Start variation",
"read_aloud": "Episode 31. Place a small mark at the middle left, around X 0.30, Y 0.40. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a small mark in the middle left area of the board, around normalized position X 0.30, Y 0.40.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.4
},
"mark_type": "small_mark",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 32,
"purpose": "Start variation",
"read_aloud": "Episode 32. Place a small mark at the center, around X 0.50, Y 0.40. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a small mark near the center of the board, around normalized position X 0.50, Y 0.40.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.4
},
"mark_type": "small_mark",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 33,
"purpose": "Decouple start from target",
"read_aloud": "Episode 33. Place a small mark at the middle right, around X 0.70, Y 0.40. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a small mark in the middle right area of the board, around normalized position X 0.70, Y 0.40.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.4
},
"mark_type": "small_mark",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Decouple start from target"
},
"split": "train"
},
{
"episode_id": 34,
"purpose": "Start variation",
"read_aloud": "Episode 34. Place a medium mark at the middle left, around X 0.30, Y 0.60. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a medium mark in the middle left area of the board, around normalized position X 0.30, Y 0.60.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.6
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 35,
"purpose": "Start variation",
"read_aloud": "Episode 35. Place a medium mark at the center, around X 0.50, Y 0.60. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a medium mark near the center of the board, around normalized position X 0.50, Y 0.60.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.6
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 36,
"purpose": "Decouple start from target",
"read_aloud": "Episode 36. Place a medium mark at the middle right, around X 0.70, Y 0.60. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a medium mark in the middle right area of the board, around normalized position X 0.70, Y 0.60.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.6
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Decouple start from target"
},
"split": "train"
},
{
"episode_id": 37,
"purpose": "Start variation",
"read_aloud": "Episode 37. Place a medium mark at the middle left, around X 0.35, Y 0.50. Use start 5 cm up from nominal.",
"operator_steps": [
"Place a medium mark in the middle left area of the board, around normalized position X 0.35, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.35,
"y": 0.5
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 38,
"purpose": "Start variation",
"read_aloud": "Episode 38. Place a medium mark at the middle right, around X 0.65, Y 0.50. Use start 5 cm up from nominal.",
"operator_steps": [
"Place a medium mark in the middle right area of the board, around normalized position X 0.65, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.65,
"y": 0.5
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 39,
"purpose": "Start variation",
"read_aloud": "Episode 39. Place a medium mark at the center, around X 0.40, Y 0.50. Use start 5 cm down from nominal.",
"operator_steps": [
"Place a medium mark near the center of the board, around normalized position X 0.40, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.4,
"y": 0.5
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 40,
"purpose": "Start variation",
"read_aloud": "Episode 40. Place a medium mark at the center, around X 0.60, Y 0.50. Use start 5 cm down from nominal.",
"operator_steps": [
"Place a medium mark near the center of the board, around normalized position X 0.60, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.6,
"y": 0.5
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Start variation"
},
"split": "train"
},
{
"episode_id": 41,
"purpose": "Near lower-left boundary",
"read_aloud": "Episode 41. Place a medium square at the lower left, around X 0.20, Y 0.20. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower left area of the board, around normalized position X 0.20, Y 0.20.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.2,
"y": 0.2
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near lower-left boundary"
},
"split": "train"
},
{
"episode_id": 42,
"purpose": "Near bottom boundary",
"read_aloud": "Episode 42. Place a medium square at the lower center, around X 0.50, Y 0.20. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower center area of the board, around normalized position X 0.50, Y 0.20.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.2
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near bottom boundary"
},
"split": "train"
},
{
"episode_id": 43,
"purpose": "Near lower-right boundary",
"read_aloud": "Episode 43. Place a medium square at the lower right, around X 0.80, Y 0.20. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the lower right area of the board, around normalized position X 0.80, Y 0.20.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.8,
"y": 0.2
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near lower-right boundary"
},
"split": "train"
},
{
"episode_id": 44,
"purpose": "Near left boundary",
"read_aloud": "Episode 44. Place a medium square at the middle left, around X 0.20, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the middle left area of the board, around normalized position X 0.20, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.2,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near left boundary"
},
"split": "train"
},
{
"episode_id": 45,
"purpose": "Near right boundary",
"read_aloud": "Episode 45. Place a medium square at the middle right, around X 0.80, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the middle right area of the board, around normalized position X 0.80, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.8,
"y": 0.5
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near right boundary"
},
"split": "train"
},
{
"episode_id": 46,
"purpose": "Near upper-left boundary",
"read_aloud": "Episode 46. Place a medium square at the upper left, around X 0.20, Y 0.80. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper left area of the board, around normalized position X 0.20, Y 0.80.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.2,
"y": 0.8
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near upper-left boundary"
},
"split": "train"
},
{
"episode_id": 47,
"purpose": "Near top boundary",
"read_aloud": "Episode 47. Place a medium square at the upper center, around X 0.50, Y 0.80. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper center area of the board, around normalized position X 0.50, Y 0.80.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.8
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near top boundary"
},
"split": "train"
},
{
"episode_id": 48,
"purpose": "Near upper-right boundary",
"read_aloud": "Episode 48. Place a medium square at the upper right, around X 0.80, Y 0.80. Use the nominal start pose.",
"operator_steps": [
"Place a medium square in the upper right area of the board, around normalized position X 0.80, Y 0.80.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.8,
"y": 0.8
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Near upper-right boundary"
},
"split": "train"
},
{
"episode_id": 49,
"purpose": "Top-edge motion",
"read_aloud": "Episode 49. Place a medium wide rectangle at the upper left, around X 0.30, Y 0.80. Use the nominal start pose.",
"operator_steps": [
"Place a medium wide rectangle in the upper left area of the board, around normalized position X 0.30, Y 0.80.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.8
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Top-edge motion"
},
"split": "train"
},
{
"episode_id": 50,
"purpose": "Bottom-edge motion",
"read_aloud": "Episode 50. Place a medium wide rectangle at the lower right, around X 0.70, Y 0.20. Use the nominal start pose.",
"operator_steps": [
"Place a medium wide rectangle in the lower right area of the board, around normalized position X 0.70, Y 0.20.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.2
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Bottom-edge motion"
},
"split": "train"
},
{
"episode_id": 51,
"purpose": "Combined variation",
"read_aloud": "Episode 51. Place a small irregular scribble at the lower left, around X 0.25, Y 0.35. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a small irregular scribble in the lower left area of the board, around normalized position X 0.25, Y 0.35.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.35
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 52,
"purpose": "Combined variation",
"read_aloud": "Episode 52. Place a small irregular scribble at the lower right, around X 0.75, Y 0.35. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a small irregular scribble in the lower right area of the board, around normalized position X 0.75, Y 0.35.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.35
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 53,
"purpose": "Combined variation",
"read_aloud": "Episode 53. Place a small irregular scribble at the upper left, around X 0.25, Y 0.65. Use start 5 cm down from nominal.",
"operator_steps": [
"Place a small irregular scribble in the upper left area of the board, around normalized position X 0.25, Y 0.65.",
"Move the robot to a start pose shifted 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.65
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 54,
"purpose": "Combined variation",
"read_aloud": "Episode 54. Place a small irregular scribble at the upper right, around X 0.75, Y 0.65. Use start 5 cm up from nominal.",
"operator_steps": [
"Place a small irregular scribble in the upper right area of the board, around normalized position X 0.75, Y 0.65.",
"Move the robot to a start pose shifted 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.65
},
"mark_type": "irregular_scribble",
"mark_size_class": "small",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 55,
"purpose": "Combined variation",
"read_aloud": "Episode 55. Place a medium wide rectangle at the lower center, around X 0.40, Y 0.30. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a medium wide rectangle in the lower center area of the board, around normalized position X 0.40, Y 0.30.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.4,
"y": 0.3
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 56,
"purpose": "Combined variation",
"read_aloud": "Episode 56. Place a medium tall rectangle at the lower center, around X 0.60, Y 0.30. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a medium tall rectangle in the lower center area of the board, around normalized position X 0.60, Y 0.30.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.6,
"y": 0.3
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 57,
"purpose": "Combined variation",
"read_aloud": "Episode 57. Place a medium tall rectangle at the upper center, around X 0.40, Y 0.70. Use start 5 cm down from nominal.",
"operator_steps": [
"Place a medium tall rectangle in the upper center area of the board, around normalized position X 0.40, Y 0.70.",
"Move the robot to a start pose shifted 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.4,
"y": 0.7
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 58,
"purpose": "Combined variation",
"read_aloud": "Episode 58. Place a medium wide rectangle at the upper center, around X 0.60, Y 0.70. Use start 5 cm up from nominal.",
"operator_steps": [
"Place a medium wide rectangle in the upper center area of the board, around normalized position X 0.60, Y 0.70.",
"Move the robot to a start pose shifted 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.6,
"y": 0.7
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 59,
"purpose": "Long trajectory",
"read_aloud": "Episode 59. Place a large vertical line at the middle left, around X 0.30, Y 0.50. Use start 5 cm right from nominal.",
"operator_steps": [
"Place a large vertical line in the middle left area of the board, around normalized position X 0.30, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters right from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Long trajectory"
},
"split": "train"
},
{
"episode_id": 60,
"purpose": "Long trajectory",
"read_aloud": "Episode 60. Place a large vertical line at the middle right, around X 0.70, Y 0.50. Use start 5 cm left from nominal.",
"operator_steps": [
"Place a large vertical line in the middle right area of the board, around normalized position X 0.70, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters left from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.5
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Long trajectory"
},
"split": "train"
},
{
"episode_id": 61,
"purpose": "Long trajectory",
"read_aloud": "Episode 61. Place a large horizontal line at the lower center, around X 0.50, Y 0.30. Use start 5 cm up from nominal.",
"operator_steps": [
"Place a large horizontal line in the lower center area of the board, around normalized position X 0.50, Y 0.30.",
"Move the robot to a start pose shifted 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.3
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Long trajectory"
},
"split": "train"
},
{
"episode_id": 62,
"purpose": "Long trajectory",
"read_aloud": "Episode 62. Place a large horizontal line at the upper center, around X 0.50, Y 0.70. Use start 5 cm down from nominal.",
"operator_steps": [
"Place a large horizontal line in the upper center area of the board, around normalized position X 0.50, Y 0.70.",
"Move the robot to a start pose shifted 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.7
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Long trajectory"
},
"split": "train"
},
{
"episode_id": 63,
"purpose": "Longer wiping",
"read_aloud": "Episode 63. Place a large irregular patch at the lower left, around X 0.35, Y 0.35. Use the nominal start pose.",
"operator_steps": [
"Place a large irregular patch in the lower left area of the board, around normalized position X 0.35, Y 0.35.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.35,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Longer wiping"
},
"split": "train"
},
{
"episode_id": 64,
"purpose": "Longer wiping",
"read_aloud": "Episode 64. Place a large irregular patch at the lower right, around X 0.65, Y 0.35. Use the nominal start pose.",
"operator_steps": [
"Place a large irregular patch in the lower right area of the board, around normalized position X 0.65, Y 0.35.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.65,
"y": 0.35
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Longer wiping"
},
"split": "train"
},
{
"episode_id": 65,
"purpose": "Longer wiping",
"read_aloud": "Episode 65. Place a large irregular patch at the upper left, around X 0.35, Y 0.65. Use the nominal start pose.",
"operator_steps": [
"Place a large irregular patch in the upper left area of the board, around normalized position X 0.35, Y 0.65.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.35,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Longer wiping"
},
"split": "train"
},
{
"episode_id": 66,
"purpose": "Longer wiping",
"read_aloud": "Episode 66. Place a large irregular patch at the upper right, around X 0.65, Y 0.65. Use the nominal start pose.",
"operator_steps": [
"Place a large irregular patch in the upper right area of the board, around normalized position X 0.65, Y 0.65.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.65,
"y": 0.65
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Longer wiping"
},
"split": "train"
},
{
"episode_id": 67,
"purpose": "Long episode",
"read_aloud": "Episode 67. Place a very large patch at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a very large patch near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "very_large_patch",
"mark_size_class": "very_large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Long episode"
},
"split": "train"
},
{
"episode_id": 68,
"purpose": "Multi-region wiping",
"read_aloud": "Episode 68. Place a medium two separated marks at the middle left, around X 0.30, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium two separated marks in the middle left area of the board, around normalized position X 0.30, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.5
},
"mark_type": "two_separated_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Multi-region wiping"
},
"split": "train"
},
{
"episode_id": 69,
"purpose": "Multi-region wiping",
"read_aloud": "Episode 69. Place a medium two separated marks at the middle right, around X 0.70, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium two separated marks in the middle right area of the board, around normalized position X 0.70, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.5
},
"mark_type": "two_separated_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Multi-region wiping"
},
"split": "train"
},
{
"episode_id": 70,
"purpose": "Visual complexity",
"read_aloud": "Episode 70. Place a medium three nearby marks at the center, around X 0.50, Y 0.50. Use the nominal start pose.",
"operator_steps": [
"Place a medium three nearby marks near the center of the board, around normalized position X 0.50, Y 0.50.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.5
},
"mark_type": "three_nearby_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Visual complexity"
},
"split": "train"
},
{
"episode_id": 71,
"purpose": "Start-pose corner",
"read_aloud": "Episode 71. Place a medium mark at the lower left, around X 0.25, Y 0.25. Use start 5 cm left and 5 cm up from nominal.",
"operator_steps": [
"Place a medium mark in the lower left area of the board, around normalized position X 0.25, Y 0.25.",
"Move the robot to a start pose shifted 5 centimeters left and 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.25
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.05,
"z": 0.0
},
"purpose": "Start-pose corner"
},
"split": "train"
},
{
"episode_id": 72,
"purpose": "Start-pose corner",
"read_aloud": "Episode 72. Place a medium mark at the lower right, around X 0.75, Y 0.25. Use start 5 cm right and 5 cm up from nominal.",
"operator_steps": [
"Place a medium mark in the lower right area of the board, around normalized position X 0.75, Y 0.25.",
"Move the robot to a start pose shifted 5 centimeters right and 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.25
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.05,
"z": 0.0
},
"purpose": "Start-pose corner"
},
"split": "train"
},
{
"episode_id": 73,
"purpose": "Anti-correlated start",
"read_aloud": "Episode 73. Place a medium mark at the upper left, around X 0.25, Y 0.75. Use start 5 cm right and 5 cm down from nominal.",
"operator_steps": [
"Place a medium mark in the upper left area of the board, around normalized position X 0.25, Y 0.75.",
"Move the robot to a start pose shifted 5 centimeters right and 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.75
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": -0.05,
"z": 0.0
},
"purpose": "Anti-correlated start"
},
"split": "train"
},
{
"episode_id": 74,
"purpose": "Anti-correlated start",
"read_aloud": "Episode 74. Place a medium mark at the upper right, around X 0.75, Y 0.75. Use start 5 cm left and 5 cm down from nominal.",
"operator_steps": [
"Place a medium mark in the upper right area of the board, around normalized position X 0.75, Y 0.75.",
"Move the robot to a start pose shifted 5 centimeters left and 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.75
},
"mark_type": "medium_mark",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": -0.05,
"z": 0.0
},
"purpose": "Anti-correlated start"
},
"split": "train"
},
{
"episode_id": 75,
"purpose": "Combined variation",
"read_aloud": "Episode 75. Place a medium wide rectangle at the lower center, around X 0.50, Y 0.25. Use start 5 cm left and 5 cm up from nominal.",
"operator_steps": [
"Place a medium wide rectangle in the lower center area of the board, around normalized position X 0.50, Y 0.25.",
"Move the robot to a start pose shifted 5 centimeters left and 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.25
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 76,
"purpose": "Combined variation",
"read_aloud": "Episode 76. Place a medium wide rectangle at the upper center, around X 0.50, Y 0.75. Use start 5 cm right and 5 cm down from nominal.",
"operator_steps": [
"Place a medium wide rectangle in the upper center area of the board, around normalized position X 0.50, Y 0.75.",
"Move the robot to a start pose shifted 5 centimeters right and 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.5,
"y": 0.75
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": -0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 77,
"purpose": "Combined variation",
"read_aloud": "Episode 77. Place a medium tall rectangle at the middle left, around X 0.25, Y 0.50. Use start 5 cm right and 5 cm up from nominal.",
"operator_steps": [
"Place a medium tall rectangle in the middle left area of the board, around normalized position X 0.25, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters right and 5 centimeters up from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.25,
"y": 0.5
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 78,
"purpose": "Combined variation",
"read_aloud": "Episode 78. Place a medium tall rectangle at the middle right, around X 0.75, Y 0.50. Use start 5 cm left and 5 cm down from nominal.",
"operator_steps": [
"Place a medium tall rectangle in the middle right area of the board, around normalized position X 0.75, Y 0.50.",
"Move the robot to a start pose shifted 5 centimeters left and 5 centimeters down from nominal.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.75,
"y": 0.5
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": -0.05,
"z": 0.0
},
"purpose": "Combined variation"
},
"split": "train"
},
{
"episode_id": 79,
"purpose": "Generalization check",
"read_aloud": "Episode 79. Place a medium random medium shape at a random interior position. Use a random allowed start pose.",
"operator_steps": [
"Place a medium random medium shape at a random interior location on the usable board.",
"Move the robot to a random allowed start pose within the small V1 start-pose range.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": null,
"y": null
},
"mark_type": "random_medium_shape",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": null,
"y": null,
"z": null
},
"purpose": "Generalization check"
},
"split": "train"
},
{
"episode_id": 80,
"purpose": "Generalization check",
"read_aloud": "Episode 80. Place a medium or large random medium or large shape at a random interior position. Use a random allowed start pose.",
"operator_steps": [
"Place a medium or large random medium or large shape at a random interior location on the usable board.",
"Move the robot to a random allowed start pose within the small V1 start-pose range.",
"Begin recording before the approach motion starts.",
"Approach the marked region smoothly.",
"Slow down before surface contact.",
"Establish gentle, stable eraser contact with the board.",
"Use horizontal left-right raster wiping strokes.",
"Shift vertically by about one eraser width between strokes.",
"Continue until the full marked region has been covered.",
"Use a short cleanup pass only if necessary.",
"Retract cleanly away from the board.",
"Stop recording after the retraction is complete."
],
"do_not_do": [
"Do not change to circular, diagonal, or improvised wiping unless the episode specifically requires it.",
"Do not intentionally vary wiping speed.",
"Do not intentionally vary contact force.",
"Do not pause unnecessarily during the trajectory.",
"Do not force the eraser aggressively into the board.",
"Do not continue a bad demonstration just to make it succeed; repeat it instead."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": null,
"y": null
},
"mark_type": "random_medium_or_large_shape",
"mark_size_class": "medium_or_large",
"eraser_start_offset_m": {
"x": null,
"y": null,
"z": null
},
"purpose": "Generalization check"
},
"split": "train"
},
{
"episode_id": 81,
"split": "validation",
"purpose": "Validation: interior position and irregular geometry",
"read_aloud": "Validation episode 81. Place a medium irregular scribble at the center, around X 0.40, Y 0.60. Use the nominal start pose. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a medium irregular scribble at normalized position X 0.40, Y 0.60.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.4,
"y": 0.6
},
"mark_type": "irregular_scribble",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Validation: interior position and irregular geometry"
}
},
{
"episode_id": 82,
"split": "validation",
"purpose": "Validation: interior position with left start offset",
"read_aloud": "Validation episode 82. Place a medium wide rectangle at the center, around X 0.60, Y 0.40. Use start 5 cm left from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a medium wide rectangle at normalized position X 0.60, Y 0.40.",
"Move the robot to start 5 cm left from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.6,
"y": 0.4
},
"mark_type": "wide_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Validation: interior position with left start offset"
}
},
{
"episode_id": 83,
"split": "validation",
"purpose": "Validation: upper-left long trajectory with opposite start",
"read_aloud": "Validation episode 83. Place a large vertical line at the upper left, around X 0.30, Y 0.70. Use start 5 cm right from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a large vertical line at normalized position X 0.30, Y 0.70.",
"Move the robot to start 5 cm right from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.3,
"y": 0.7
},
"mark_type": "vertical_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.05,
"y": 0.0,
"z": 0.0
},
"purpose": "Validation: upper-left long trajectory with opposite start"
}
},
{
"episode_id": 84,
"split": "validation",
"purpose": "Validation: lower-right long trajectory with raised start",
"read_aloud": "Validation episode 84. Place a large horizontal line at the lower right, around X 0.70, Y 0.30. Use start 5 cm up from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a large horizontal line at normalized position X 0.70, Y 0.30.",
"Move the robot to start 5 cm up from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.7,
"y": 0.3
},
"mark_type": "horizontal_line",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.05,
"z": 0.0
},
"purpose": "Validation: lower-right long trajectory with raised start"
}
},
{
"episode_id": 85,
"split": "validation",
"purpose": "Validation: near-left boundary with lowered start",
"read_aloud": "Validation episode 85. Place a medium square at the upper left, around X 0.22, Y 0.62. Use start 5 cm down from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a medium square at normalized position X 0.22, Y 0.62.",
"Move the robot to start 5 cm down from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.22,
"y": 0.62
},
"mark_type": "medium_square",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": -0.05,
"z": 0.0
},
"purpose": "Validation: near-left boundary with lowered start"
}
},
{
"episode_id": 86,
"split": "validation",
"purpose": "Validation: near-right boundary and tall geometry",
"read_aloud": "Validation episode 86. Place a medium tall rectangle at the lower right, around X 0.78, Y 0.38. Use the nominal start pose. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a medium tall rectangle at normalized position X 0.78, Y 0.38.",
"Move the robot to the nominal start pose.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.78,
"y": 0.38
},
"mark_type": "tall_rectangle",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"purpose": "Validation: near-right boundary and tall geometry"
}
},
{
"episode_id": 87,
"split": "validation",
"purpose": "Validation: upper region with combined start offset",
"read_aloud": "Validation episode 87. Place a medium two nearby marks at the upper center, around X 0.42, Y 0.78. Use start 5 cm right and 5 cm down from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a medium two nearby marks at normalized position X 0.42, Y 0.78.",
"Move the robot to start 5 cm right and 5 cm down from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.42,
"y": 0.78
},
"mark_type": "two_nearby_marks",
"mark_size_class": "medium",
"eraser_start_offset_m": {
"x": 0.05,
"y": -0.05,
"z": 0.0
},
"purpose": "Validation: upper region with combined start offset"
}
},
{
"episode_id": 88,
"split": "validation",
"purpose": "Validation: lower region, large patch, combined start offset",
"read_aloud": "Validation episode 88. Place a large irregular patch at the lower center, around X 0.58, Y 0.22. Use start 5 cm left and 5 cm up from nominal. Wipe with smooth horizontal raster strokes and steady contact. Retract when the mark is covered. Repeat if motion is interrupted or contact is lost.",
"operator_steps": [
"Place a large irregular patch at normalized position X 0.58, Y 0.22.",
"Move the robot to start 5 cm left and 5 cm up from nominal.",
"Begin recording before the approach motion.",
"Approach smoothly and establish stable contact.",
"Use the standard horizontal raster wiping strategy.",
"Retract after the marked region is covered.",
"Stop recording after retraction."
],
"do_not_do": [
"Do not change the wiping strategy.",
"Do not intentionally vary speed or contact force.",
"Do not use this episode for training.",
"Repeat the episode if there is a major teleoperation or recording error."
],
"episode_complete_when": [
"The intended marked region has been wiped.",
"The eraser has retracted from the board.",
"The trajectory was smooth and intentional.",
"No major teleoperation or recording error occurred."
],
"planned_parameters": {
"mark_center_norm": {
"x": 0.58,
"y": 0.22
},
"mark_type": "large_irregular_patch",
"mark_size_class": "large",
"eraser_start_offset_m": {
"x": -0.05,
"y": 0.05,
"z": 0.0
},
"purpose": "Validation: lower region, large patch, combined start offset"
}
}
],
"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,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77,
78,
79,
80
],
"validation_episode_ids": [
81,
82,
83,
84,
85,
86,
87,
88
],
"validation_usage": "Use only for validation-loss monitoring during training. Do not include these episodes in the training set."
}
}
}
}
Citation
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