rlds_episode_ordinal int64 4 97 | num_steps int64 59 837 | file_path stringlengths 103 107 | recording_folderpath stringlengths 104 108 | episode_metadata dict | language_instruction stringlengths 0 209 | step_keys listlengths 11 11 | observation_shapes dict | action_shape listlengths 1 1 | action_dtype stringclasses 1
value | episode_id stringlengths 35 39 | calibration dict | camera_key stringclasses 2
values | camera_serial stringlengths 8 8 | camera_intrinsics dict | cam2base listlengths 6 6 | calibration_source stringclasses 2
values | calibration_metric_type stringclasses 3
values | calibration_quality_metric float64 0.61 94.9k ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
4 | 313 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4"
} | Pick up the clothes from the table and put them in the box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+cf2a60c6+2023-11-18-17h-19m-20s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.40869140625,
639.77587890625,
524.40869140625,
370.2777099609375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.10250827783035849,
0.3763652510753896,
0.4594096516611374,
-2.1532480576592574,
-0.12920378875566607,
-1.92852991380879
] | GT | IoU | 0.787952 |
4 | 313 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4"
} | Pick up the clothes from the table and put them in the box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+cf2a60c6+2023-11-18-17h-19m-20s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8914184570312,
636.1516723632812,
531.8914184570312,
344.0086669921875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.05121297191812625,
-0.28500339363481525,
0.41513210475321793,
-1.9614438416469684,
0.15644707799077606,
-1.2557662339168925
] | GT | IoU | 0.710716 |
6 | 199 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4"
} | Remove the pen from the cup and place it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+7dfa2da3+2023-05-08-16h-11m-54s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5819091796875,
640.491455078125,
522.5819091796875,
353.23126220703125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.354046474635331,
-0.3993940041977893,
0.5552017394465518,
-2.296310559896102,
-0.08931103011948482,
-0.456117717304855
] | GT | IoU | 0.810326 |
6 | 199 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4"
} | Remove the pen from the cup and place it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+7dfa2da3+2023-05-08-16h-11m-54s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 29838012 | {
"cameraMatrix": [
522.8712158203125,
639.2365112304688,
522.8712158203125,
352.50128173828125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.44960453647299603,
0.5092049671879851,
0.5640809758529117,
-2.2323209277985225,
-0.06346082452877533,
-2.9551242541139953
] | GT | IoU | 0.899403 |
10 | 562 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/recordings/MP4"
} | Fold the yellow towel twice from left to right. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-10-31-14h-06m-55s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.388916015625,
644.8782958984375,
522.388916015625,
356.0332946777344
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03673138566477899,
0.4190198540989353,
0.4337252962284965,
-1.8532739917729844,
0.0057782043674583505,
-1.9623266062349045
] | GT | IoU | 0.848258 |
11 | 427 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/recordings/MP4"
} | Remove the two t-shirts and two towels from the white box and place them on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+44bb9c36+2023-11-23-20h-06m-51s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.33642578125,
639.7752075195312,
524.33642578125,
370.27740478515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2900597952032914,
0.5137670297304342,
0.5053201092534083,
-2.1407608458117595,
-0.01568039972414481,
-2.647675534430447
] | GT | IoU | 0.803275 |
12 | 233 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/recordings/MP4"
} | Push down the switch on the toaster | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+85a5958f+2023-07-01-01h-28m-42s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 29838012 | {
"cameraMatrix": [
522.9857177734375,
639.2335815429688,
522.9857177734375,
352.50262451171875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.006356900506508972,
0.5670419654565484,
0.5415582616916675,
-1.6550817754478642,
-0.020717312467569027,
-2.2452268744085067
] | GT | IoU | 0.78335 |
16 | 154 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-09-02-10h-39m-35s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.1419677734375,
639.7766723632812,
524.1419677734375,
370.2774353027344
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35349390702169603,
0.3914608949938111,
0.3771087521926439,
-2.302404066930313,
-0.005123055794673537,
-2.441102144974911
] | Pred | num_matches | 38,986 | |
16 | 154 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-09-02-10h-39m-35s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8388061523438,
636.1519775390625,
531.8388061523438,
344.0086975097656
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.21111690703762614,
-0.3490184361333721,
0.39391238672993517,
-2.0826974071580002,
-0.007944733035944562,
-0.818938949987732
] | GT | IoU | 0.860971 | |
17 | 135 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/recordings/MP4"
} | Put the glue stick in the cup | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+13759f6e+2023-05-20-16h-54m-47s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
530.9542236328125,
651.0386352539062,
530.9542236328125,
351.9405517578125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03735840702759091,
0.4897470699776062,
0.13639958878149197,
-1.7956655050620436,
-0.34486864235634607,
-2.0380055912641932
] | GT | IoU | 0.726207 |
18 | 151 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+44bb9c36+2023-11-25-12h-45m-15s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.3538818359375,
639.7759399414062,
524.3538818359375,
370.2776184082031
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.285058496679539,
0.5293535898924371,
0.5053064916005684,
-2.1574098469159666,
-0.014599726418276449,
-2.5956907321743485
] | GT | IoU | 0.752041 | |
19 | 693 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-03-18h-32m-09s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
522.9364013671875,
648.824462890625,
522.9364013671875,
354.7407531738281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.18066750275355756,
0.4231599618649583,
0.2947814839267615,
-1.7759681996491485,
-0.026597415761731247,
-2.0300516400602913
] | GT | IoU | 0.86783 | |
21 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4"
} | Move the cup to the right | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-17h-38m-33s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 28451778 | {
"cameraMatrix": [
522.8635864257812,
634.025146484375,
522.8635864257812,
365.7064208984375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1914860189164603,
0.5888406423240917,
0.4684080747335238,
-1.7459977084318468,
-0.02445492191464438,
-2.3443004119032773
] | GT | IoU | 0.65426 |
21 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4"
} | Move the cup to the right | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-17h-38m-33s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28813166 | {
"cameraMatrix": [
525.55859375,
636.309326171875,
525.55859375,
365.467529296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.24556826513522884,
-0.6515437144542467,
0.5057423617761149,
-2.387120655227718,
0.06368652536398045,
-0.4381131553608687
] | GT | IoU | 0.896842 |
26 | 457 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4"
} | Pick up the novel and place it on the bed frame | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-15h-36m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 28451778 | {
"cameraMatrix": [
522.884765625,
634.025146484375,
522.884765625,
365.70654296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1933944897502164,
0.590752297196123,
0.4699325567360544,
-1.743480965489557,
-0.022604706329506286,
-2.349412115713623
] | GT | IoU | 0.788296 |
26 | 457 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4"
} | Pick up the novel and place it on the bed frame | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-15h-36m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28813166 | {
"cameraMatrix": [
525.6954345703125,
636.3091430664062,
525.6954345703125,
365.467529296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.0031837694889967744,
-0.283891465399289,
0.5069198271606313,
-1.8474985084831657,
-0.0681388152667004,
-1.1227478873516177
] | Pred | num_matches | 32,527 |
28 | 231 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4"
} | Remove the block from the yellow bowl and put it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-17-16h-02m-30s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.4514770507812,
644.8780517578125,
522.4514770507812,
356.03277587890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35049924719498765,
0.5254003182923335,
0.45670386037925514,
-2.253962292542252,
-0.11372087472290815,
-2.729069222811833
] | GT | IoU | 0.693202 |
28 | 231 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4"
} | Remove the block from the yellow bowl and put it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-17-16h-02m-30s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25947356 | {
"cameraMatrix": [
528.1932983398438,
653.07373046875,
528.1932983398438,
348.8354797363281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.21802070858160313,
-0.5937266622289625,
0.497509697902738,
-2.2448381329357927,
0.06258852208253352,
-0.811650330456395
] | GT | IoU | 0.8318 |
30 | 218 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/recordings/MP4"
} | Place the mug in the middle of the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+236539bc+2023-05-09-01h-51m-14s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": false
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
530.98876953125,
651.0386352539062,
530.98876953125,
351.9406433105469
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03638227898084068,
0.40253489090549766,
0.33790347172634827,
-2.0963507475182133,
0.06098053096278311,
-2.218280318388771
] | GT | IoU | 0.814462 |
34 | 133 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/recordings/MP4"
} | Remove the pen from the mug and put it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+ef107c48+2023-03-08-17h-40m-54s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": false
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.705322265625,
640.49169921875,
522.705322265625,
353.23101806640625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1527012154622973,
0.4058940954378816,
0.5437388333700999,
-2.0075269623041274,
0.13360300502446365,
-2.589355875396174
] | Pred | Reprojection_error | 18.064468 |
40 | 59 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+5085c3ce+2023-10-18-20h-23m-11s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
523.997314453125,
645.31640625,
523.997314453125,
365.478515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.01013139600158644,
0.4244328857097626,
0.4431110505156214,
-1.8047892938543786,
0.020087253795568527,
-2.035333520747884
] | GT | IoU | 0.729369 | |
43 | 185 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4"
} | Remove the marker from the cup and put it on the table inside the border | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+22cb038f+2023-09-25-08h-58m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.5028686523438,
644.8782348632812,
522.5028686523438,
356.03302001953125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.36072528158272776,
0.43568452382469514,
0.22789292150792098,
-1.8526574203887078,
0.05062060529949042,
-3.0209350176132292
] | GT | IoU | 0.895433 |
43 | 185 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4"
} | Remove the marker from the cup and put it on the table inside the border | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+22cb038f+2023-09-25-08h-58m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25947356 | {
"cameraMatrix": [
528.62939453125,
653.073974609375,
528.62939453125,
348.83599853515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.3623137312533028,
-0.4807851439877906,
0.37134967973213406,
-1.8845116592124604,
0.00612183516012732,
0.19757496838448096
] | GT | IoU | 0.784641 |
45 | 279 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4"
} | Move the blocks apart | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | WEIRD+f1c42455+2023-12-16-01h-22m-27s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23804457 | {
"cameraMatrix": [
523.8380737304688,
636.3063354492188,
523.8380737304688,
368.02587890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.17902373402824345,
-0.5083160707359031,
0.5105081817663404,
-1.767167054310272,
0.0011430505936440571,
-1.0166205797320393
] | Pred | Reprojection_error | 7.845384 |
45 | 279 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4"
} | Move the blocks apart | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | WEIRD+f1c42455+2023-12-16-01h-22m-27s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28834630 | {
"cameraMatrix": [
521.8654174804688,
657.0244750976562,
521.8654174804688,
355.4032897949219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.030120098480778734,
0.6166976672445075,
0.5071573600532805,
-1.8367073489819143,
0.08148571612675126,
-2.191694821183153
] | GT | IoU | 0.78848 |
48 | 257 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/recordings/MP4"
} | Close the cupboard completely | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | WEIRD+30c3da59+2023-11-13-20h-02m-20s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23804457 | {
"cameraMatrix": [
523.7794799804688,
636.306396484375,
523.7794799804688,
368.0263671875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.14061715692817314,
-0.4947332145260761,
0.4932748806297065,
-1.9081009676268526,
0.003020447946043836,
-0.7808800643002002
] | GT | IoU | 0.921827 |
55 | 295 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4"
} | Open the 3 in 1 machine's oven door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+acda9df3+2023-06-20-18h-36m-57s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 25455306 | {
"cameraMatrix": [
527.6689453125,
646.4635620117188,
527.6689453125,
353.0382385253906
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35565764815918843,
0.3732298397293638,
0.4018326122907955,
-2.0606681255237715,
0.04647641938948177,
3.0883008909965515
] | GT | IoU | 0.708904 |
55 | 295 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4"
} | Open the 3 in 1 machine's oven door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+acda9df3+2023-06-20-18h-36m-57s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 27085680 | {
"cameraMatrix": [
528.7461547851562,
636.7902221679688,
528.7461547851562,
372.2541198730469
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.055170614655885714,
-0.4343586034603142,
0.2826449525186101,
-1.8229924053467998,
0.004442542883902334,
-0.7326638789756608
] | GT | IoU | 0.793886 |
56 | 465 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/recordings/MP4"
} | Pick the towels one at a time and place them on the tray | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-03-15h-35m-37s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
523.1928100585938,
648.8248291015625,
523.1928100585938,
354.7448425292969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03270080817179444,
0.3908436616367417,
0.29473071572227566,
-1.9410877924196934,
-0.05188458636888926,
-1.8974696098924417
] | GT | IoU | 0.766593 |
57 | 837 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4"
} | Pick up all the bottles and the orange ball from the table and put them in the plate | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-11-12-22h-03m-38s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.3993530273438,
639.7750244140625,
524.3993530273438,
370.2774658203125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.28324527548160383,
0.4215083077242402,
0.3858782600945768,
-1.9268391787604482,
0.031044771748109712,
-2.392498487448705
] | GT | IoU | 0.625924 |
57 | 837 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4"
} | Pick up all the bottles and the orange ball from the table and put them in the plate | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-11-12-22h-03m-38s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8329467773438,
636.153564453125,
531.8329467773438,
344.0081481933594
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.3100019843515368,
-0.347945554830162,
0.42305367465099913,
-2.0633289120161633,
-0.018107724009697623,
-0.8038780243882887
] | GT | IoU | 0.755295 |
59 | 166 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/recordings/MP4"
} | Close the top drawer | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-24-14h-35m-40s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.3849487304688,
644.8780517578125,
522.3849487304688,
356.0327453613281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.0661630088826699,
0.6501344593839655,
0.5645680908195511,
-2.1438423493831342,
-0.04480069125810382,
-1.9802309543971792
] | GT | IoU | 0.861856 |
60 | 372 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/recordings/MP4"
} | Put the candy bar into the cupboard | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+cb4f6842+2023-05-29-16h-25m-21s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
523.0482177734375,
648.82470703125,
523.0482177734375,
354.74371337890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.038838469311934354,
0.4613862645499456,
0.40405916091957683,
-1.695274519766085,
0.0496702480147555,
-1.9789295685274957
] | GT | IoU | 0.795653 |
64 | 363 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4"
} | Pick up the blue paper cup and move it to the bottom right side of the gray tray on the kitchen counter, pick up the orange paper cup and move it to the upper right side of the gray tray on the kitchen counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-01-21h-26m-24s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 24013089 | {
"cameraMatrix": [
525.6026000976562,
648.1179809570312,
525.6026000976562,
374.60626220703125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.039456640819953065,
-0.2964933138237613,
0.44381575411094654,
-1.7896087390872395,
0.03867950177917434,
-1.3708486762452883
] | GT | IoU | 0.820161 |
64 | 363 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4"
} | Pick up the blue paper cup and move it to the bottom right side of the gray tray on the kitchen counter, pick up the orange paper cup and move it to the upper right side of the gray tray on the kitchen counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-01-21h-26m-24s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
523.0475463867188,
648.8247680664062,
523.0475463867188,
354.7438659667969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.06034100126270006,
0.4338912685856943,
0.32326132868773033,
-1.59885550837632,
-0.051989568497085026,
-1.8328192091065603
] | GT | IoU | 0.815763 |
65 | 421 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4"
} | Remove the cup from the top cabinet, then put the right cup on the top cabinet | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-18-11h-14m-44s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.58984375,
644.8782958984375,
522.58984375,
356.0331726074219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.06295191785871873,
0.8049735267580168,
0.792467481875714,
-1.8538095362484646,
0.028826281494691353,
-2.097807403002944
] | GT | IoU | 0.844523 |
65 | 421 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4"
} | Remove the cup from the top cabinet, then put the right cup on the top cabinet | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-18-11h-14m-44s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25947356 | {
"cameraMatrix": [
528.1640625,
653.07373046875,
528.1640625,
348.83544921875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.004645174034856071,
-0.625668346798226,
0.3897417068515636,
-1.5308005113798246,
0.08767887807982633,
-0.7850809385759822
] | GT | IoU | 0.836896 |
70 | 99 | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/recordings/MP4"
} | No action | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RAIL+daf8a660+2023-08-31-15h-41m-52s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24259877 | {
"cameraMatrix": [
525.2814331054688,
666.1611938476562,
525.2814331054688,
368.5243835449219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.24646528349288738,
0.4173035994729554,
0.23389552005201647,
-2.007382436466384,
0.09978524335555927,
-2.1461072720658945
] | GT | IoU | 0.74847 |
71 | 196 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/recordings/MP4"
} | Put the bottles in the clear box | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+236539bc+2023-06-06-01h-55m-04s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
531.0609130859375,
651.0386352539062,
531.0609130859375,
351.9378967285156
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.06296538305747777,
0.2568396762491656,
0.24708625866449913,
-1.9923194605054702,
-0.08340545978881653,
-2.0873423097356647
] | GT | IoU | 0.787507 |
73 | 775 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | ILIAD+5e938e3b+2023-07-20-10h-50m-49s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 27904255 | {
"cameraMatrix": [
531.5883178710938,
656.2739868164062,
531.5883178710938,
360.3603820800781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.35988680945905926,
-0.8478228142829671,
0.658882885180752,
-1.7924021319915149,
-0.18946575478431593,
-1.019853979919264
] | Pred | Reprojection_error | 10.659578 | |
74 | 520 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/recordings/MP4"
} | Put the two bottles in the box | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+5085c3ce+2023-10-11-03h-28m-33s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
523.9049682617188,
645.3165283203125,
523.9049682617188,
365.47991943359375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.12678538962053598,
0.5384659761124845,
0.4443853558972109,
-1.8103464301821919,
0.037928219769641336,
-2.7102779908596393
] | GT | IoU | 0.904377 |
75 | 132 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4"
} | Put the rubber band on the cup | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+9aed6d7a+2023-12-02-17h-05m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.4004516601562,
639.7771606445312,
524.4004516601562,
370.278076171875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35927618396780636,
0.6459606082052571,
0.46201590151517324,
-2.055555561243736,
0.03773706471562277,
-2.4648634968405303
] | GT | IoU | 0.855629 |
75 | 132 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4"
} | Put the rubber band on the cup | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+9aed6d7a+2023-12-02-17h-05m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.9150390625,
636.152099609375,
531.9150390625,
344.0084533691406
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.321622037148988,
-0.3279223510518765,
0.46147190535188554,
-2.0722403407028076,
-0.060674310227209594,
-0.5562929813496814
] | GT | IoU | 0.837475 |
76 | 119 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4"
} | Push the pump of the blue bottle down | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-07-16h-10m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5507202148438,
640.491943359375,
522.5507202148438,
353.2306823730469
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.13139366921815587,
-0.534660232961601,
0.4688403761506889,
-2.0485406637195362,
0.06955447106362844,
-0.9923573945039547
] | GT | IoU | 0.835528 |
76 | 119 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4"
} | Push the pump of the blue bottle down | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-07-16h-10m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 29838012 | {
"cameraMatrix": [
523.1382446289062,
639.2353515625,
523.1382446289062,
352.5019836425781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1561885282375096,
0.4421467789548755,
0.4201432502112626,
-2.1663744145443498,
-0.003292313956526627,
-2.225806630064241
] | Pred | num_matches | 25,365 |
77 | 309 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4"
} | Put the blue masking tape in the white toaster oven. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-10-24-13h-53m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.421142578125,
644.8782958984375,
522.421142578125,
356.03314208984375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.25607720305342924,
0.6586107512734151,
0.30785338565922094,
-1.9919263541339738,
-0.04252999956104664,
-2.828786087276395
] | GT | IoU | 0.824797 |
77 | 309 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4"
} | Put the blue masking tape in the white toaster oven. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-10-24-13h-53m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25947356 | {
"cameraMatrix": [
528.3906860351562,
653.0735473632812,
528.3906860351562,
348.8350830078125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2281579376805622,
-0.4978284971286455,
0.5486180669183479,
-2.06844236999429,
-0.002186960984483788,
-0.33875067104340006
] | GT | IoU | 0.80705 |
80 | 191 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4"
} | Move the block to the right. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+30510ef3+2023-10-12-12h-15m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 28451778 | {
"cameraMatrix": [
522.9122314453125,
634.0253295898438,
522.9122314453125,
365.7069091796875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4550116795909347,
0.5647062010380525,
0.3938117149022773,
-1.8921414223785467,
0.013945728827124748,
-2.8751815572791175
] | GT | IoU | 0.898597 |
80 | 191 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4"
} | Move the block to the right. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+30510ef3+2023-10-12-12h-15m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28813166 | {
"cameraMatrix": [
525.7422485351562,
636.3092651367188,
525.7422485351562,
365.46746826171875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.3612144568275557,
-0.5068644844144825,
0.4742868025564554,
-2.028309515555718,
-0.08800710172748571,
-0.1427173266846165
] | GT | IoU | 0.91118 |
85 | 288 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4"
} | Open the brown box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-09-18h-00m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5989379882812,
640.4918212890625,
522.5989379882812,
353.2308654785156
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.13417975827024398,
-0.5206406273251175,
0.45396229944599054,
-2.0490678807788094,
0.006658826822214747,
-0.7164029508188616
] | GT | IoU | 0.857477 |
85 | 288 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4"
} | Open the brown box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-09-18h-00m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 29838012 | {
"cameraMatrix": [
522.94580078125,
639.23876953125,
522.94580078125,
352.5003967285156
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.04094050452099662,
0.5344712489847083,
0.4565498177470394,
-2.055001298587967,
-0.025187967850648585,
-2.28787768627226
] | GT | IoU | 0.961615 |
86 | 162 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4"
} | Put the orange and green blocks in the bowl respectively | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+84bd5053+2023-08-21-14h-20m-58s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.1353149414062,
639.7772216796875,
524.1353149414062,
370.277587890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.25820358331590665,
0.6953764424342612,
0.3335827611805309,
-2.0830149555174504,
-0.1454383280062388,
-2.417809539956232
] | Pred | Reprojection_error | 17.36651 |
86 | 162 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4"
} | Put the orange and green blocks in the bowl respectively | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+84bd5053+2023-08-21-14h-20m-58s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8369750976562,
636.1527099609375,
531.8369750976562,
344.0084228515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2549565838516642,
-0.3914761071602089,
0.4819200398895261,
-2.1515038986351147,
0.04094769301836654,
-0.5946720961322097
] | Pred | num_matches | 48,379 |
90 | 430 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4"
} | Pick the stuffed pineapple and put it on the counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+c5f808b7+2023-10-24-23h-06m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 25455306 | {
"cameraMatrix": [
527.4171752929688,
646.4635009765625,
527.4171752929688,
353.0371398925781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4137992760288909,
0.447004375385245,
0.45195820932422226,
-2.0069680785078887,
0.05482309593308732,
-2.800078384232422
] | GT | IoU | 0.725795 |
90 | 430 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4"
} | Pick the stuffed pineapple and put it on the counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+c5f808b7+2023-10-24-23h-06m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 27085680 | {
"cameraMatrix": [
528.4864501953125,
636.788818359375,
528.4864501953125,
372.25494384765625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1743147651852344,
-0.3600550025062955,
0.4557513822856003,
-1.9263634890441008,
0.004765230108253027,
-0.8068508075922605
] | Pred | num_matches | 43,549 |
93 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4"
} | Turn the bottom right knob of the toaster to the left | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | ILIAD+7ae1bcff+2023-06-04-19h-36m-16s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23897859 | {
"cameraMatrix": [
520.3955078125,
643.3329467773438,
520.3955078125,
353.3786315917969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2636182763541582,
0.507931008518104,
0.42334016531276897,
-2.134903341600802,
-0.026742451617203677,
-2.2507499272733726
] | GT | IoU | 0.847632 |
93 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4"
} | Turn the bottom right knob of the toaster to the left | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | ILIAD+7ae1bcff+2023-06-04-19h-36m-16s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 27904255 | {
"cameraMatrix": [
531.8255004882812,
656.274658203125,
531.8255004882812,
360.3600769042969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.3186464069459978,
-0.2795141834731246,
0.44675342156592524,
-2.0520161262474312,
0.026186699677184233,
-0.5287208166417864
] | GT | IoU | 0.607397 |
96 | 292 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4"
} | Open the door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+7790ec0a+2023-06-27-20h-36m-25s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 21582473 | {
"cameraMatrix": [
532.0307006835938,
643.8899536132812,
532.0307006835938,
372.98748779296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4133658918373677,
0.5191669411163002,
0.34488415138807543,
-1.8749857605155331,
0.002304947622426168,
-2.417060550579326
] | GT | IoU | 0.807368 |
96 | 292 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4"
} | Open the door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+7790ec0a+2023-06-27-20h-36m-25s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28221883 | {
"cameraMatrix": [
522.3584594726562,
646.51904296875,
522.3584594726562,
365.79962158203125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.42246917901883557,
-0.3050087302793033,
0.4091851241927686,
-1.6938729317607648,
-0.06690688174822523,
-0.9241149240552524
] | Pred | num_matches | 94,930 |
97 | 145 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4"
} | Pour the contents of the lunchbox onto the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+edf28ef3+2024-01-01-10h-32m-06s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
524.2929077148438,
645.315673828125,
524.2929077148438,
365.4804992675781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.05263647502861234,
-0.5090224900091741,
0.5175861987258059,
-2.0011467750077503,
-0.0049646958791154105,
-0.5896910805427815
] | GT | IoU | 0.891355 |
97 | 145 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4"
} | Pour the contents of the lunchbox onto the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+edf28ef3+2024-01-01-10h-32m-06s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28221883 | {
"cameraMatrix": [
522.284912109375,
646.5181274414062,
522.284912109375,
365.8031921386719
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1329900366337497,
0.5729635386337685,
0.4857688668977471,
-1.9743412707417398,
0.008065827172508255,
-2.523793638901586
] | GT | IoU | 0.842862 |
4 | 313 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-18/Sat_Nov_18_17:19:20_2023/recordings/MP4"
} | Pick up the clothes from the table and put them in the box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+cf2a60c6+2023-11-18-17h-19m-20s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.40869140625,
639.77587890625,
524.40869140625,
370.2777099609375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.10250827783035849,
0.3763652510753896,
0.4594096516611374,
-2.1532480576592574,
-0.12920378875566607,
-1.92852991380879
] | null | null | null |
6 | 199 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-08/Mon_May__8_16:11:54_2023/recordings/MP4"
} | Remove the pen from the cup and place it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+7dfa2da3+2023-05-08-16h-11m-54s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5819091796875,
640.491455078125,
522.5819091796875,
353.23126220703125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.354046474635331,
-0.3993940041977893,
0.5552017394465518,
-2.296310559896102,
-0.08931103011948482,
-0.456117717304855
] | null | null | null |
10 | 562 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-31/Tue_Oct_31_14:06:55_2023/recordings/MP4"
} | Fold the yellow towel twice from left to right. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-10-31-14h-06m-55s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.388916015625,
644.8782958984375,
522.388916015625,
356.0332946777344
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03673138566477899,
0.4190198540989353,
0.4337252962284965,
-1.8532739917729844,
0.0057782043674583505,
-1.9623266062349045
] | null | null | null |
11 | 427 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-23/Thu_Nov_23_20:06:51_2023/recordings/MP4"
} | Remove the two t-shirts and two towels from the white box and place them on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+44bb9c36+2023-11-23-20h-06m-51s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.33642578125,
639.7752075195312,
524.33642578125,
370.27740478515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2900597952032914,
0.5137670297304342,
0.5053201092534083,
-2.1407608458117595,
-0.01568039972414481,
-2.647675534430447
] | null | null | null |
12 | 233 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-01/Sat_Jul__1_01:28:42_2023/recordings/MP4"
} | Push down the switch on the toaster | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+85a5958f+2023-07-01-01h-28m-42s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 29838012 | {
"cameraMatrix": [
522.9857177734375,
639.2335815429688,
522.9857177734375,
352.50262451171875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.006356900506508972,
0.5670419654565484,
0.5415582616916675,
-1.6550817754478642,
-0.020717312467569027,
-2.2452268744085067
] | null | null | null |
16 | 154 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-09-02/Sat_Sep__2_10:39:35_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-09-02-10h-39m-35s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8388061523438,
636.1519775390625,
531.8388061523438,
344.0086975097656
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.21111690703762614,
-0.3490184361333721,
0.39391238672993517,
-2.0826974071580002,
-0.007944733035944562,
-0.818938949987732
] | null | null | null | |
17 | 135 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:54:47_2023/recordings/MP4"
} | Put the glue stick in the cup | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+13759f6e+2023-05-20-16h-54m-47s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
530.9542236328125,
651.0386352539062,
530.9542236328125,
351.9405517578125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03735840702759091,
0.4897470699776062,
0.13639958878149197,
-1.7956655050620436,
-0.34486864235634607,
-2.0380055912641932
] | null | null | null |
18 | 151 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/failure/2023-11-25/Sat_Nov_25_12:45:15_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+44bb9c36+2023-11-25-12h-45m-15s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.3538818359375,
639.7759399414062,
524.3538818359375,
370.2776184082031
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.285058496679539,
0.5293535898924371,
0.5053064916005684,
-2.1574098469159666,
-0.014599726418276449,
-2.5956907321743485
] | null | null | null | |
19 | 693 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_18:32:09_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-03-18h-32m-09s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
522.9364013671875,
648.824462890625,
522.9364013671875,
354.7407531738281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.18066750275355756,
0.4231599618649583,
0.2947814839267615,
-1.7759681996491485,
-0.026597415761731247,
-2.0300516400602913
] | null | null | null | |
21 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_17:38:33_2023/recordings/MP4"
} | Move the cup to the right | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-17h-38m-33s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28813166 | {
"cameraMatrix": [
525.55859375,
636.309326171875,
525.55859375,
365.467529296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.24556826513522884,
-0.6515437144542467,
0.5057423617761149,
-2.387120655227718,
0.06368652536398045,
-0.4381131553608687
] | null | null | null |
26 | 457 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-07/Tue_Nov__7_15:36:03_2023/recordings/MP4"
} | Pick up the novel and place it on the bed frame | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-11-07-15h-36m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 28451778 | {
"cameraMatrix": [
522.884765625,
634.025146484375,
522.884765625,
365.70654296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1933944897502164,
0.590752297196123,
0.4699325567360544,
-1.743480965489557,
-0.022604706329506286,
-2.349412115713623
] | null | null | null |
28 | 231 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-17/Wed_Jan_17_16:02:30_2024/recordings/MP4"
} | Remove the block from the yellow bowl and put it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-17-16h-02m-30s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25947356 | {
"cameraMatrix": [
528.1932983398438,
653.07373046875,
528.1932983398438,
348.8354797363281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.21802070858160313,
-0.5937266622289625,
0.497509697902738,
-2.2448381329357927,
0.06258852208253352,
-0.811650330456395
] | null | null | null |
30 | 218 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-09/Tue_May__9_01:51:14_2023/recordings/MP4"
} | Place the mug in the middle of the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+236539bc+2023-05-09-01h-51m-14s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": false
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
530.98876953125,
651.0386352539062,
530.98876953125,
351.9406433105469
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03638227898084068,
0.40253489090549766,
0.33790347172634827,
-2.0963507475182133,
0.06098053096278311,
-2.218280318388771
] | null | null | null |
34 | 133 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_17_40_54_2023/recordings/MP4"
} | Remove the pen from the mug and put it on the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IRIS+ef107c48+2023-03-08-17h-40m-54s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": false
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.705322265625,
640.49169921875,
522.705322265625,
353.23101806640625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.1527012154622973,
0.4058940954378816,
0.5437388333700999,
-2.0075269623041274,
0.13360300502446365,
-2.589355875396174
] | null | null | null |
40 | 59 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/failure/2023-10-18/Wed_Oct_18_20:23:11_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+5085c3ce+2023-10-18-20h-23m-11s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
523.997314453125,
645.31640625,
523.997314453125,
365.478515625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.01013139600158644,
0.4244328857097626,
0.4431110505156214,
-1.8047892938543786,
0.020087253795568527,
-2.035333520747884
] | null | null | null | |
43 | 185 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-09-25/Mon_Sep_25_08:58:26_2023/recordings/MP4"
} | Remove the marker from the cup and put it on the table inside the border | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+22cb038f+2023-09-25-08h-58m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.5028686523438,
644.8782348632812,
522.5028686523438,
356.03302001953125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.36072528158272776,
0.43568452382469514,
0.22789292150792098,
-1.8526574203887078,
0.05062060529949042,
-3.0209350176132292
] | null | null | null |
45 | 279 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-12-16/Sat_Dec_16_01:22:27_2023/recordings/MP4"
} | Move the blocks apart | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | WEIRD+f1c42455+2023-12-16-01h-22m-27s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 28834630 | {
"cameraMatrix": [
521.8654174804688,
657.0244750976562,
521.8654174804688,
355.4032897949219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.030120098480778734,
0.6166976672445075,
0.5071573600532805,
-1.8367073489819143,
0.08148571612675126,
-2.191694821183153
] | null | null | null |
48 | 257 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2023-11-13/Mon_Nov_13_20:02:20_2023/recordings/MP4"
} | Close the cupboard completely | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | WEIRD+30c3da59+2023-11-13-20h-02m-20s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23804457 | {
"cameraMatrix": [
523.7794799804688,
636.306396484375,
523.7794799804688,
368.0263671875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.14061715692817314,
-0.4947332145260761,
0.4932748806297065,
-1.9081009676268526,
0.003020447946043836,
-0.7808800643002002
] | null | null | null |
55 | 295 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-20/Tue_Jun_20_18:36:57_2023/recordings/MP4"
} | Open the 3 in 1 machine's oven door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+acda9df3+2023-06-20-18h-36m-57s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 25455306 | {
"cameraMatrix": [
527.6689453125,
646.4635620117188,
527.6689453125,
353.0382385253906
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35565764815918843,
0.3732298397293638,
0.4018326122907955,
-2.0606681255237715,
0.04647641938948177,
3.0883008909965515
] | null | null | null |
56 | 465 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-03/Sun_Dec__3_15:35:37_2023/recordings/MP4"
} | Pick the towels one at a time and place them on the tray | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-03-15h-35m-37s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
523.1928100585938,
648.8248291015625,
523.1928100585938,
354.7448425292969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.03270080817179444,
0.3908436616367417,
0.29473071572227566,
-1.9410877924196934,
-0.05188458636888926,
-1.8974696098924417
] | null | null | null |
57 | 837 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-12/Sun_Nov_12_22:03:38_2023/recordings/MP4"
} | Pick up all the bottles and the orange ball from the table and put them in the plate | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+5d05c5aa+2023-11-12-22h-03m-38s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24400334 | {
"cameraMatrix": [
531.8329467773438,
636.153564453125,
531.8329467773438,
344.0081481933594
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.3100019843515368,
-0.347945554830162,
0.42305367465099913,
-2.0633289120161633,
-0.018107724009697623,
-0.8038780243882887
] | null | null | null |
59 | 166 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-24/Wed_Jan_24_14:35:40_2024/recordings/MP4"
} | Close the top drawer | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-24-14h-35m-40s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.3849487304688,
644.8780517578125,
522.3849487304688,
356.0327453613281
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.0661630088826699,
0.6501344593839655,
0.5645680908195511,
-2.1438423493831342,
-0.04480069125810382,
-1.9802309543971792
] | null | null | null |
60 | 372 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-29/Mon_May_29_16:25:21_2023/recordings/MP4"
} | Put the candy bar into the cupboard | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+cb4f6842+2023-05-29-16h-25m-21s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 25047636 | {
"cameraMatrix": [
523.0482177734375,
648.82470703125,
523.0482177734375,
354.74371337890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.038838469311934354,
0.4613862645499456,
0.40405916091957683,
-1.695274519766085,
0.0496702480147555,
-1.9789295685274957
] | null | null | null |
64 | 363 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-12-01/Fri_Dec__1_21:26:24_2023/recordings/MP4"
} | Pick up the blue paper cup and move it to the bottom right side of the gray tray on the kitchen counter, pick up the orange paper cup and move it to the upper right side of the gray tray on the kitchen counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RPL+32cba90c+2023-12-01-21h-26m-24s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 24013089 | {
"cameraMatrix": [
525.6026000976562,
648.1179809570312,
525.6026000976562,
374.60626220703125
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.039456640819953065,
-0.2964933138237613,
0.44381575411094654,
-1.7896087390872395,
0.03867950177917434,
-1.3708486762452883
] | null | null | null |
65 | 421 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_11:14:44_2024/recordings/MP4"
} | Remove the cup from the top cabinet, then put the right cup on the top cabinet | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2024-01-18-11h-14m-44s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.58984375,
644.8782958984375,
522.58984375,
356.0331726074219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.06295191785871873,
0.8049735267580168,
0.792467481875714,
-1.8538095362484646,
0.028826281494691353,
-2.097807403002944
] | null | null | null |
70 | 99 | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_15:41:52_2023/recordings/MP4"
} | No action | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | RAIL+daf8a660+2023-08-31-15h-41m-52s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 24259877 | {
"cameraMatrix": [
525.2814331054688,
666.1611938476562,
525.2814331054688,
368.5243835449219
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.24646528349288738,
0.4173035994729554,
0.23389552005201647,
-2.007382436466384,
0.09978524335555927,
-2.1461072720658945
] | null | null | null |
71 | 196 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-06/Tue_Jun__6_01:55:04_2023/recordings/MP4"
} | Put the bottles in the clear box | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | CLVR+236539bc+2023-06-06-01h-55m-04s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20103212 | {
"cameraMatrix": [
531.0609130859375,
651.0386352539062,
531.0609130859375,
351.9378967285156
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.06296538305747777,
0.2568396762491656,
0.24708625866449913,
-1.9923194605054702,
-0.08340545978881653,
-2.0873423097356647
] | null | null | null |
73 | 775 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/failure/2023-07-20/Thu_Jul_20_10:50:49_2023/recordings/MP4"
} | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | ILIAD+5e938e3b+2023-07-20-10h-50m-49s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_2_left | 27904255 | {
"cameraMatrix": [
531.5883178710938,
656.2739868164062,
531.5883178710938,
360.3603820800781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
-0.35988680945905926,
-0.8478228142829671,
0.658882885180752,
-1.7924021319915149,
-0.18946575478431593,
-1.019853979919264
] | null | null | null | |
74 | 520 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-11/Wed_Oct_11_03:28:33_2023/recordings/MP4"
} | Put the two bottles in the box | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+5085c3ce+2023-10-11-03h-28m-33s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
523.9049682617188,
645.3165283203125,
523.9049682617188,
365.47991943359375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.12678538962053598,
0.5384659761124845,
0.4443853558972109,
-1.8103464301821919,
0.037928219769641336,
-2.7102779908596393
] | null | null | null |
75 | 132 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_17:05:28_2023/recordings/MP4"
} | Put the rubber band on the cup | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+9aed6d7a+2023-12-02-17h-05m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.4004516601562,
639.7771606445312,
524.4004516601562,
370.278076171875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.35927618396780636,
0.6459606082052571,
0.46201590151517324,
-2.055555561243736,
0.03773706471562277,
-2.4648634968405303
] | null | null | null |
76 | 119 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:10:12_2023/recordings/MP4"
} | Push the pump of the blue bottle down | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-07-16h-10m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5507202148438,
640.491943359375,
522.5507202148438,
353.2306823730469
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.13139366921815587,
-0.534660232961601,
0.4688403761506889,
-2.0485406637195362,
0.06955447106362844,
-0.9923573945039547
] | null | null | null |
77 | 309 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-24/Tue_Oct_24_13:53:28_2023/recordings/MP4"
} | Put the blue masking tape in the white toaster oven. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+52ca9b6a+2023-10-24-13h-53m-28s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 20252535 | {
"cameraMatrix": [
522.421142578125,
644.8782958984375,
522.421142578125,
356.03314208984375
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.25607720305342924,
0.6586107512734151,
0.30785338565922094,
-1.9919263541339738,
-0.04252999956104664,
-2.828786087276395
] | null | null | null |
80 | 191 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-12/Thu_Oct_12_12:15:03_2023/recordings/MP4"
} | Move the block to the right. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+30510ef3+2023-10-12-12h-15m-03s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 28451778 | {
"cameraMatrix": [
522.9122314453125,
634.0253295898438,
522.9122314453125,
365.7069091796875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4550116795909347,
0.5647062010380525,
0.3938117149022773,
-1.8921414223785467,
0.013945728827124748,
-2.8751815572791175
] | null | null | null |
85 | 288 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_18:00:12_2023/recordings/MP4"
} | Open the brown box. | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | TRI+938130c4+2023-08-09-18h-00m-12s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23404442 | {
"cameraMatrix": [
522.5989379882812,
640.4918212890625,
522.5989379882812,
353.2308654785156
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.13417975827024398,
-0.5206406273251175,
0.45396229944599054,
-2.0490678807788094,
0.006658826822214747,
-0.7164029508188616
] | null | null | null |
86 | 162 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-08-21/Mon_Aug_21_14:20:58_2023/recordings/MP4"
} | Put the orange and green blocks in the bowl respectively | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | AUTOLab+84bd5053+2023-08-21-14h-20m-58s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 22008760 | {
"cameraMatrix": [
524.1353149414062,
639.7772216796875,
524.1353149414062,
370.277587890625
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.25820358331590665,
0.6953764424342612,
0.3335827611805309,
-2.0830149555174504,
-0.1454383280062388,
-2.417809539956232
] | null | null | null |
90 | 430 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-24/Tue_Oct_24_23:06:26_2023/recordings/MP4"
} | Pick the stuffed pineapple and put it on the counter | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | PennPAL+c5f808b7+2023-10-24-23h-06m-26s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 25455306 | {
"cameraMatrix": [
527.4171752929688,
646.4635009765625,
527.4171752929688,
353.0371398925781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4137992760288909,
0.447004375385245,
0.45195820932422226,
-2.0069680785078887,
0.05482309593308732,
-2.800078384232422
] | null | null | null |
93 | 215 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_19:36:16_2023/recordings/MP4"
} | Turn the bottom right knob of the toaster to the left | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | ILIAD+7ae1bcff+2023-06-04-19h-36m-16s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 23897859 | {
"cameraMatrix": [
520.3955078125,
643.3329467773438,
520.3955078125,
353.3786315917969
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.2636182763541582,
0.507931008518104,
0.42334016531276897,
-2.134903341600802,
-0.026742451617203677,
-2.2507499272733726
] | null | null | null |
96 | 292 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-06-27/Tue_Jun_27_20:36:25_2023/recordings/MP4"
} | Open the door | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+7790ec0a+2023-06-27-20h-36m-25s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 21582473 | {
"cameraMatrix": [
532.0307006835938,
643.8899536132812,
532.0307006835938,
372.98748779296875
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.4133658918373677,
0.5191669411163002,
0.34488415138807543,
-1.8749857605155331,
0.002304947622426168,
-2.417060550579326
] | null | null | null |
97 | 145 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5 | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4 | {
"file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/trajectory.h5",
"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2024-01-01/Mon_Jan__1_10:32:06_2024/recordings/MP4"
} | Pour the contents of the lunchbox onto the table | [
"action",
"action_dict",
"discount",
"is_first",
"is_last",
"is_terminal",
"language_instruction",
"language_instruction_2",
"language_instruction_3",
"observation",
"reward"
] | {
"cartesian_position": [
6
],
"exterior_image_1_left": [
180,
320,
3
],
"exterior_image_2_left": [
180,
320,
3
],
"gripper_position": [
1
],
"joint_position": [
7
],
"wrist_image_left": [
180,
320,
3
]
} | [
7
] | <dtype: 'float64'> | IPRL+edf28ef3+2024-01-01-10h-32m-06s | {
"annotation_dir": "/ces124/zxn/droid/annotations/KarlP_droid",
"has_cam2base": true,
"has_intrinsics": true,
"has_cam2cam": true
} | exterior_image_1_left | 27432424 | {
"cameraMatrix": [
524.2929077148438,
645.315673828125,
524.2929077148438,
365.4804992675781
],
"distCoeffs": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"width": 1280,
"height": 720
} | [
0.05263647502861234,
-0.5090224900091741,
0.5175861987258059,
-2.0011467750077503,
-0.0049646958791154105,
-0.5896910805427815
] | null | null | null |
No dataset card yet
- Downloads last month
- 3,505