{ "stem": "eval__fontaine_molmo2_er_60k_ddp4__step_060000__panel_curated_v0_k4l2_events", "miss_frames_total": 683, "probed": 683, "excluded_replay_oracle": 4, "still_none_after_ban": 0, "forced_guesses": 679, "class_match": 428, "class_match_rate": 0.6303387334315169, "results": [ { "index": 4651, "repo_id": "0x00raghu/toffee_blue", "episode_index": 13, "frame_index": 546, "instruction": "toffee_blue", "gt_event": "arm idle at rest", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 10501, "repo_id": "0x00raghu/toffee_to_hand_1", "episode_index": 4, "frame_index": 422, "instruction": "toffee_to_hand", "gt_event": "toffee handed over to the human hand", "forced_event": "toffee released into the human hand", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 17936, "repo_id": "1lyz123576/so101_test", "episode_index": 120, "frame_index": 281, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm retracts without approaching or grasping any block", "forced_event": "arm returns to home pose with blocks untouched", "gt_class": "grasp_pickup", "forced_class": "other", "class_match": false }, { "index": 18369, "repo_id": "1lyz123576/so101_test", "episode_index": 129, "frame_index": 105, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm raised high above the blocks, no approach to any block", "forced_event": "arm swings upward, wrist camera points away from the blocks", "gt_class": "other", "forced_class": "camera_view", "class_match": false }, { "index": 19363, "repo_id": "1lyz123576/so101_test-1", "episode_index": 5, "frame_index": 267, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released onto the table, no bin present", "forced_event": "cube released on the table, not in the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 19569, "repo_id": "1lyz123576/so101_test-1", "episode_index": 10, "frame_index": 152, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "gripper moves away from the cube without grasping it", "forced_event": "block occluded by the arm in the top view", "gt_class": "miss_fail", "forced_class": "occlusion", "class_match": false }, { "index": 19721, "repo_id": "1lyz123576/so101_test-1", "episode_index": 10, "frame_index": 304, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm retreats to an upright pose with no block held", "forced_event": "arm retracts with blocks still in their original order", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 21896, "repo_id": "Aadhavan/so101_bio_final", "episode_index": 18, "frame_index": 49, "instruction": "pick up biomedical waster and put it in the respective bin.", "gt_event": "camera B frame very dark", "forced_event": "arm essentially stationary", "gt_class": "camera_view", "forced_class": "idle", "class_match": false }, { "index": 23755, "repo_id": "AkibaGeek/so100_test", "episode_index": 14, "frame_index": 50, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm essentially idle, little motion since start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 26043, "repo_id": "AntoineA/so100_green_cube_black_circle", "episode_index": 5, "frame_index": 58, "instruction": "Grasp a green cube and put it in the black circle", "gt_event": "arm nearly stationary compared with the first frame (idle stretch)", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 27371, "repo_id": "AnttAI/record-test3", "episode_index": 18, "frame_index": 199, "instruction": "Pick the wooden block and put in the plate", "gt_event": "block occluded by the arm over the plate", "forced_event": "block occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 27816, "repo_id": "AnttAI/record-test3", "episode_index": 41, "frame_index": 196, "instruction": "Pick the wooden block and put in the plate", "gt_event": "gripper lifts away empty, no block grasped", "forced_event": "arm retracts with no block ever placed in the plate", "gt_class": "grasp_pickup", "forced_class": "release_place", "class_match": false }, { "index": 27913, "repo_id": "AnttAI/record-test3", "episode_index": 41, "frame_index": 293, "instruction": "Pick the wooden block and put in the plate", "gt_event": "gripper raises empty after failed grasp attempt", "forced_event": "gripper reaches the block but does not close on it", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 28657, "repo_id": "Anybalsmith/pickplacelegocube3", "episode_index": 6, "frame_index": 261, "instruction": "pickplacewhitellegocube", "gt_event": "cube released into the green cup", "forced_event": "cube released into the green cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 32506, "repo_id": "Ashton3/lerobot-aloha", "episode_index": 13, "frame_index": 305, "instruction": "Grab a bottle of soybeans and pour it into this cup.", "gt_event": "beans pouring into the cup", "forced_event": "motion blur in camera A", "gt_class": "release_place", "forced_class": "blur", "class_match": false }, { "index": 39269, "repo_id": "Ayush-Sharan-1/config-4grid_topCam-T_frontCam-T_d-160525_v-1", "episode_index": 5, "frame_index": 844, "instruction": "Grasp a block and put it in the designated area.", "gt_event": "robot idle", "forced_event": "arm idle at home", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 44123, "repo_id": "Bartm3/dice2", "episode_index": 108, "frame_index": 157, "instruction": "Grasp a dice and put it in the bin.", "gt_event": "cube occluded by the descending gripper", "forced_event": "die occluded by the gripper", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 48068, "repo_id": "Bartm3/dice2", "episode_index": 189, "frame_index": 203, "instruction": "Grasp a dice and put it in the bin.", "gt_event": "dice occluded by gripper above the dish", "forced_event": "die occluded by the arm while being carried", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 48375, "repo_id": "Bartm3/dice2", "episode_index": 190, "frame_index": 153, "instruction": "Grasp a dice and put it in the bin.", "gt_event": "dice occluded by the gripper/arm", "forced_event": "motion blur from fast arm movement", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 48629, "repo_id": "Bartm3/dice4", "episode_index": 3, "frame_index": 49, "instruction": "Grasp a dice and put it in the bin.", "gt_event": "arm idle", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 54148, "repo_id": "Bartm3/dice4", "episode_index": 91, "frame_index": 744, "instruction": "Grasp a tape and put it in the bin.", "gt_event": "arm swings over the empty tray without having grasped the cube", "forced_event": "motion blur in wrist view", "gt_class": "grasp_pickup", "forced_class": "blur", "class_match": false }, { "index": 71909, "repo_id": "BobBobbson/so100_test_FIRST_DATA", "episode_index": 14, "frame_index": 48, "instruction": "Pick up red ball and place in grey container", "gt_event": "arm essentially stationary (idle start)", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 75853, "repo_id": "CSCSXX/pick_place_cube_1.17", "episode_index": 30, "frame_index": 50, "instruction": "Pick up the red block and place it in the box.", "gt_event": "cube and gripper largely occluded by the 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631, "instruction": "Move the blue chess pieces to the highlighted squares", "gt_event": "board layout appears unchanged versus frame 1", "forced_event": "arm retracts with no visible piece change", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 102949, "repo_id": "Chojins/chess_game_001_blue_stereo", "episode_index": 482, "frame_index": 111, "instruction": "Move the blue chess pieces to the highlighted squares", "gt_event": "strong motion blur on wrist camera", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 104726, "repo_id": "Chojins/chess_game_001_blue_stereo", "episode_index": 533, "frame_index": 197, "instruction": "Move the blue chess pieces to the highlighted squares", "gt_event": "grasp not clearly visible in either view", "forced_event": "wrist view heavily motion-blurred", "gt_class": "grasp_pickup", "forced_class": "blur", "class_match": false }, { "index": 109988, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 29, "frame_index": 52, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "little to no change from previous frame (idle start)", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 110624, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 35, "frame_index": 326, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "board state appears unchanged from the first frame", "forced_event": "board layout looks unchanged from the start; outcome not verifiable", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 110914, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 37, "frame_index": 289, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "grasp not observable due to blur/occlusion", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 114030, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 114, "frame_index": 265, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "board state appears unchanged from the first frame", "forced_event": "arm idle at home pose", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 114296, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 117, "frame_index": 265, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "final board state looks nearly identical to the start; the move is not clearly verifiable", "forced_event": "board layout looks unchanged from the start; outcome not verifiable", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 115980, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 170, "frame_index": 290, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "fast retraction causes strong blur", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 118292, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 234, "frame_index": 53, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "arm essentially stationary (idle start)", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 118808, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 238, "frame_index": 197, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "wrist image blurred/overexposed close to board", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 119009, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 240, "frame_index": 53, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "arm still idle at start pose", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 119377, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 253, "frame_index": 51, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "arm essentially stationary at start pose", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 119580, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 253, "frame_index": 254, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "fast motion causes strong blur in both views", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 125284, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 387, "frame_index": 52, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "little to no visible motion between the first sampled frames", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 125388, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 387, "frame_index": 156, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "camera A heavily motion blurred / very close to board", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 127035, "repo_id": "Chojins/chess_game_001_red_stereo", "episode_index": 437, "frame_index": 447, "instruction": "Move the red chess pieces to the highlighted squares", "gt_event": "strong motion blur in wrist view during fast retract", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 136260, "repo_id": "Chojins/chess_game_002_white", "episode_index": 31, "frame_index": 98, "instruction": "Move the blue chess pieces as indicated by the highlighted squares", "gt_event": "motion blur in the wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 138839, "repo_id": "Chojins/chess_game_003_white", "episode_index": 49, "frame_index": 48, "instruction": "Move the blue chess pieces as indicated by the highlighted squares", "gt_event": "arm still idle at home pose", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 140234, "repo_id": "Chojins/chess_game_004_white", "episode_index": 17, "frame_index": 346, "instruction": "Move the blue chess pieces as indicated by the highlighted squares", "gt_event": "arm retracts without any piece having been moved", "forced_event": "arm retracts with no piece moved", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 140926, "repo_id": "Chojins/chess_game_004_white", "episode_index": 31, "frame_index": 96, "instruction": "Move the blue chess pieces as indicated by the highlighted squares", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 143632, "repo_id": "Chojins/chess_game_005_white", "episode_index": 34, "frame_index": 342, "instruction": "Move the blue chess pieces as indicated by the highlighted squares", "gt_event": "motion blur in wrist view during retreat", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 155802, "repo_id": "Chojins/chess_game_009_white", "episode_index": 181, "frame_index": 54, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 158371, "repo_id": "Chojins/chess_game_009_white", "episode_index": 250, "frame_index": 220, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "motion blur in wrist view", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 158633, "repo_id": "Chojins/chess_game_009_white", "episode_index": 257, "frame_index": 151, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "wrist view almost entirely filled by the arm chassis", "forced_event": "arm occludes the target square in the overhead view", "gt_class": "camera_view", "forced_class": "occlusion", "class_match": false }, { "index": 161990, "repo_id": "Chojins/chess_game_009_white", "episode_index": 331, "frame_index": 51, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "arm essentially idle at start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 163513, "repo_id": "Cidoyi/so100_all_notes", "episode_index": 20, "frame_index": 114, "instruction": "Play LA", "gt_event": "key contact happens at the very edge of the frame, partially occluded", "forced_event": "arm repositions away from the keyboard", "gt_class": "occlusion", "forced_class": "other", "class_match": false }, { "index": 164139, "repo_id": "Cidoyi/so100_all_notes_1", "episode_index": 11, "frame_index": 171, "instruction": "Connect the cable to the device.", "gt_event": "gripper out of view behind frame edge", "forced_event": "no visible key-pressing action", "gt_class": "occlusion", "forced_class": "other", "class_match": false }, { "index": 164253, "repo_id": "Cidoyi/so100_all_notes_1", "episode_index": 11, "frame_index": 285, "instruction": "Connect the cable to the device.", "gt_event": "episode ends without any observable note being played", "forced_event": "no visible key-pressing action", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 167644, "repo_id": "Clementppr/lerobot_pick_and_place_dataset_world_model", "episode_index": 8, "frame_index": 342, "instruction": "Grasp a fruit and put it in the cup.", "gt_event": "prolonged hovering over the fruit with little motion", "forced_event": "fruit occluded by the arm", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 168861, "repo_id": "CnLori/so101_piper", "episode_index": 8, "frame_index": 65, "instruction": "Place the tape on the same color areas", "gt_event": "arm nearly stationary (start idle)", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 177488, "repo_id": "Congying1112/so100_simplepick_with_2_cameras_from_top", "episode_index": 2, "frame_index": 498, "instruction": "Grasp the blue bottle onto the wooden plate.", "gt_event": "arm stationary, object held aloft", "forced_event": "arm holds the lifted flower, no placement observed", "gt_class": "idle", "forced_class": "grasp_pickup", "class_match": false }, { "index": 178286, "repo_id": "Congying1112/so100_switch_with_onhand_camera", "episode_index": 2, "frame_index": 98, "instruction": "Grasp the blue bottle onto the wooden plate.", "gt_event": "camera swings up, task object nearly out of frame", "forced_event": "arm partially occludes the bottle", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 178680, "repo_id": "Congying1112/so100_switch_with_onhand_camera", "episode_index": 2, "frame_index": 492, "instruction": "Grasp the blue bottle onto the wooden plate.", "gt_event": "camera points at monitor, workspace not framed", "forced_event": "arm withdraws, bottle left on the plate", "gt_class": "camera_view", "forced_class": "other", "class_match": false }, { "index": 179915, "repo_id": "Cornito/so101_chess17", "episode_index": 11, "frame_index": 521, "instruction": "Play chess", "gt_event": "no grasp attempted, pieces unchanged", "forced_event": "gripper hovers around the white pieces, no visible grasp", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 179963, "repo_id": "Cornito/so101_chess17", "episode_index": 11, "frame_index": 569, "instruction": "Play chess", "gt_event": "arm withdraws without moving any piece", "forced_event": "arm lifts away from the board, no piece moved", "gt_class": "other", "forced_class": "grasp_pickup", "class_match": false }, { "index": 184977, "repo_id": "Cornito/so101_chess17", "episode_index": 71, "frame_index": 517, "instruction": "Play chess", "gt_event": "arm retracts but board shows no clear piece displacement", "forced_event": "arm retracts without moving a piece", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 187102, "repo_id": "Cornito/so101_chess17", "episode_index": 122, "frame_index": 754, "instruction": "Play chess", "gt_event": "episode ends with no chess move performed", "forced_event": "arm retreats without moving a piece", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 192424, "repo_id": "Cornito/so101_test3", "episode_index": 31, "frame_index": 52, "instruction": "Grasp a woden block and put it in the pot.", "gt_event": "little motion between the first sampled frames", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 193774, "repo_id": "Dangvi/so100_dataset", "episode_index": 4, "frame_index": 50, "instruction": "Pick up the 2x2 red block and go up the 8x8 blue block.", "gt_event": "arm still idle at start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 195864, "repo_id": "Dangvi/soarm100_data", "episode_index": 10, "frame_index": 348, "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.", "gt_event": "arm appears nearly stationary (idle stretch)", "forced_event": "arm body occludes the plate in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 197755, "repo_id": "Dangvi/soarm100_data", "episode_index": 49, "frame_index": 447, "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.", "gt_event": "episode ends with gripper still closed on the block, no clear release", "forced_event": "arm appears stationary over the plate", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 198153, "repo_id": "Dangvi/soarm100_data", "episode_index": 56, "frame_index": 397, "instruction": "Pick up the 2x2 yellow block and go up the 8x8 blue block.", "gt_event": "arm holds still, no further motion", "forced_event": "arm appears idle over the placed block", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 202125, "repo_id": "Dangvi/soarm100_data2", "episode_index": 40, "frame_index": 347, "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.", "gt_event": "arm idle after placement", "forced_event": "arm idle over placed brick", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 204011, "repo_id": "DanqingZ/so100_test_pick_green_5", "episode_index": 3, "frame_index": 446, "instruction": "Grasp the green cube and put it in the bin.", "gt_event": "arm idle after task completion", "forced_event": "arm idle after task completion", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 205999, "repo_id": "DanqingZ/so100_test_pick_green_5", "episode_index": 31, "frame_index": 50, "instruction": "Grasp the green cube and put it in the bin.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 212503, "repo_id": "DimiSch/so100_50ep_3", "episode_index": 21, "frame_index": 594, "instruction": "Pick the yellow button from the table.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 214387, "repo_id": "Dongkkka/blue_pen_pick_and_place", "episode_index": 0, "frame_index": 98, "instruction": "Pick up the blue pen and put it in the green bowl", "gt_event": "wrist camera view almost fully occluded by dark arm/object", "forced_event": "pen occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 214831, "repo_id": "Dongkkka/blue_pen_pick_and_place2", "episode_index": 10, "frame_index": 51, "instruction": "Pick up the blue pen and put it in the green bowl", "gt_event": "grasp region occluded by the arm in the overhead view", "forced_event": "wrist view heavily motion-blurred", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 220223, "repo_id": "Dongkkka/koch_arm_gripper_blue_pen_to_green_bowl", "episode_index": 9, "frame_index": 159, "instruction": "Pick up the blue pen. then put it in the green bowl", "gt_event": "camera B frame very dark/blurred", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 221518, "repo_id": "Dongkkka/koch_arm_gripper_coffee_stick_to_green_bowl", "episode_index": 14, "frame_index": 0, "instruction": "Pick up the yellow coffee stick. then put it in the green bowl", "gt_event": "stick initially sits inside the bowl (pre-reset state)", "forced_event": "stick released into the bowl", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 223217, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 25, "frame_index": 49, "instruction": "Pick up the blue pen. then put it in the green bowl", "gt_event": "blue pen has been repositioned from the plate to the table between samples (scene reset)", "forced_event": "camera B heavily motion-blurred", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 223561, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 39, "frame_index": 0, "instruction": "Pick up the red pen.", "gt_event": "episode starts with the pen already in the gripper", "forced_event": "arm essentially stationary", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 223778, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 39, "frame_index": 217, "instruction": "Pick up the red pen.", "gt_event": "wrist view almost fully occluded by the gripper/shadow", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 224456, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 55, "frame_index": 216, "instruction": "Pick up the red pen.", "gt_event": "episode ends with the pen at the gripper but no visible lift", "forced_event": "wrist view heavily motion-blurred", "gt_class": "episode_marker", "forced_class": "blur", "class_match": false }, { "index": 224812, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 71, "frame_index": 355, "instruction": "Move the green bowl from right to left", "gt_event": "arm withdraws without any visible relocation of the bowl", "forced_event": "bowl released, arm retreats", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 225113, "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset", "episode_index": 73, "frame_index": 249, "instruction": "Move the green bowl from right to left", "gt_event": "arm withdraws without having moved the bowl; scene back to initial configuration", "forced_event": "arm reaches the plate but no visible grasp", "gt_class": "other", "forced_class": "grasp_pickup", "class_match": false }, { "index": 225382, "repo_id": "Dongkkka/koch_arm_gripper_move_green_bowl", "episode_index": 4, "frame_index": 218, "instruction": "Move the green bowl from right to left", "gt_event": "bowl partially leaves camera A's field of view", "forced_event": "bowl released, arm repositioned", "gt_class": "camera_view", "forced_class": "release_place", "class_match": false }, { "index": 226420, "repo_id": "Dongkkka/koch_arm_gripper_pick_red_pen", "episode_index": 18, "frame_index": 103, "instruction": "Pick up the red pen.", "gt_event": "wrist camera nearly fully occluded by the pen/plate", "forced_event": "gripper aligns with the red pen", "gt_class": "occlusion", "forced_class": "other", "class_match": false }, { "index": 227297, "repo_id": "Dongkkka/red_pen_pick_and_place2", "episode_index": 10, "frame_index": 280, "instruction": "Pick up the red pen and put it in the green bowl", "gt_event": "camera A frame overexposed / blurred", "forced_event": "scene appears unchanged from the first frame", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 228207, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 28, "frame_index": 0, "instruction": "Put a black charging cable in a black bowl and put a red charging cable in a green bowl", "gt_event": "scene still in previous/reset arrangement with cables inside the bowls; camera A heavily motion-blurred", "forced_event": "camera B heavily motion-blurred", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 230007, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 62, "frame_index": 97, "instruction": "Put a black charging cable in a black bowl and put a red charging cable in a green bowl", "gt_event": "red cable moved off the green plate to the table", "forced_event": "camera B heavily motion-blurred", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 232553, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 105, "frame_index": 57, "instruction": "Pick up the blue pen and put it in the black bowl", "gt_event": "pen is being taken out of the bowl (away from goal state)", "forced_event": "wrist view heavily motion-blurred", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 232834, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 117, "frame_index": 52, "instruction": "Pick up the red pen and put it in the black bowl", "gt_event": "scene setup changed: container repositioned and pen placed on the table", "forced_event": "camera B heavily motion-blurred", "gt_class": "release_place", "forced_class": "blur", "class_match": false }, { "index": 232886, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 117, "frame_index": 104, "instruction": "Pick up the red pen and put it in the black bowl", "gt_event": "pen occluded by the arm in the overhead view", "forced_event": "wrist view heavily motion-blurred", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 234836, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 146, "frame_index": 0, "instruction": "Pick up the yellow instant coffee stick. then put it in the black bowl", "gt_event": "scene layout differs from all later frames (bowl relocated, stick already in bowl) \u2014 likely reset/discontinuity", "forced_event": "stick released into the black bowl", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 235306, "repo_id": "Dongkkka/vla_total_dataset_test4", "episode_index": 162, "frame_index": 108, "instruction": "Pick up the yellow instant coffee stick. then put it in the black bowl", "gt_event": "scene layout differs from earlier frames: black bowl now on the left, stick beside the arm", "forced_event": "motion blur in wrist view", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 240430, "repo_id": "DorayakiLin/so100_pick_cube_in_box", "episode_index": 16, "frame_index": 290, "instruction": "Pick up the red cube and put it in the box.", "gt_event": "cube released over/into the box", "forced_event": "cube released into the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 242312, "repo_id": "DorayakiLin/so100_stack_cube", "episode_index": 5, "frame_index": 626, "instruction": "Pick up the red cube and stack it on the yellow cube.", "gt_event": "arm idle at home after completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 259741, "repo_id": "FeiYjf/Grab_Pieces", "episode_index": 2, "frame_index": 305, "instruction": "places the black object on the table.", "gt_event": "little to no motion between samples", "forced_event": "gripper closes at the rack edge, no piece is clearly grasped", "gt_class": "idle", "forced_class": "grasp_pickup", "class_match": false }, { "index": 260186, "repo_id": "FeiYjf/Grab_Pieces", "episode_index": 17, "frame_index": 190, "instruction": "places the black object on the table.", "gt_event": "no visible motion", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 261120, "repo_id": "FeiYjf/Grab_Pieces", "episode_index": 30, "frame_index": 361, "instruction": "places the black object on the table.", "gt_event": "gripper retracts with no piece clearly held; block only nudged", "forced_event": "piece lifted clear of the fixture", "gt_class": "other", "forced_class": "grasp_pickup", "class_match": false }, { "index": 263371, "repo_id": "FeiYjf/Grab_Pieces", "episode_index": 69, "frame_index": 281, "instruction": "places the black object on the table.", "gt_event": "little visible change, gripper dwelling over the piece", "forced_event": "gripper closes on the piece", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 269102, "repo_id": "FeiYjf/Maklu_dataset", "episode_index": 12, "frame_index": 48, "instruction": "Pick up the blue cube and place it on the paper.", "gt_event": "arm idle, no motion yet", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 273207, "repo_id": "FeiYjf/Test_NNNN", "episode_index": 8, "frame_index": 157, "instruction": "Pick up the purple cube and move it to the right.", "gt_event": "episode ends with gripper open around the cube, no grasp performed", "forced_event": "human hand enters frame near the arm", "gt_class": "episode_marker", "forced_class": "human", "class_match": false }, { "index": 273414, "repo_id": "FeiYjf/Test_NNNN", "episode_index": 13, "frame_index": 206, "instruction": "Pick up the purple cube and move it to the right.", "gt_event": "episode ends with gripper still open next to the cube", "forced_event": "gripper reaches the cube but never closes", "gt_class": "episode_marker", "forced_class": "miss_fail", "class_match": false }, { "index": 275258, "repo_id": "FeiYjf/new_Dataset", "episode_index": 16, "frame_index": 478, "instruction": "Pick up the blue cube.", "gt_event": "cube released inside the tape ring", "forced_event": "arm idle", "gt_class": "release_place", "forced_class": "idle", "class_match": false }, { "index": 281197, "repo_id": "FeiYjf/new_GtoR", "episode_index": 97, "frame_index": 102, "instruction": "Move along the line on the paper from start to end.", "gt_event": "human hand visible at top of camera B (teleoperation)", "forced_event": "arm essentially stationary", "gt_class": "human", "forced_class": "idle", "class_match": false }, { "index": 282161, "repo_id": "FeiYjf/new_GtoR", "episode_index": 149, "frame_index": 259, "instruction": "Move along the line on the paper from start to end.", "gt_event": "episode ends with scene unchanged; no object was moved", "forced_event": "no motion between the first sampled frames", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 282262, "repo_id": "FeiYjf/new_GtoR", "episode_index": 166, "frame_index": 100, "instruction": "Move along the line on the paper from start to end.", "gt_event": "gripper hovers over the workspace without closing; green cube occluded in camera B", "forced_event": "arm extends over the paper but does not close the gripper on the cube", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 282652, "repo_id": "FeiYjf/new_GtoR", "episode_index": 172, "frame_index": 240, "instruction": "Move along the line on the paper from start to end.", "gt_event": "scene unchanged from start; no object was moved", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 283707, "repo_id": "FeiYjf/new_GtoR", "episode_index": 220, "frame_index": 115, "instruction": "Move along the line on the paper from start to end.", "gt_event": "gripper hovers over green cube without closing", "forced_event": "gripper reaches the green cube but never closes", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 285044, "repo_id": "FeiYjf/new_GtoR", "episode_index": 255, "frame_index": 342, "instruction": "Move along the line on the paper from start to end.", "gt_event": "episode ends with cubes essentially unchanged", "forced_event": "arm returns to home with cubes untouched", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 285525, "repo_id": "FeiYjf/new_GtoR", "episode_index": 270, "frame_index": 151, "instruction": "Move along the line on the paper from start to end.", "gt_event": "gripper stays open beside the green cube, no grasp attempted", "forced_event": "arm sweeps along the blue line, cubes remain in their original positions", "gt_class": "miss_fail", "forced_class": "contact_collision", "class_match": false }, { "index": 287749, "repo_id": "FeiYjf/new_GtoR", "episode_index": 358, "frame_index": 49, "instruction": "Move along the line on the paper from start to end.", "gt_event": "robot idle, no motion since start", "forced_event": "arm returns to home pose with cubes unchanged", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 288093, "repo_id": "FeiYjf/new_GtoR", "episode_index": 358, "frame_index": 393, "instruction": "Move along the line on the paper from start to end.", "gt_event": "scene unchanged from start; cubes never moved", "forced_event": "arm returns home with cubes unchanged", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 288246, "repo_id": "FeiYjf/new_GtoR", "episode_index": 361, "frame_index": 152, "instruction": "Move along the line on the paper from start to end.", "gt_event": "arm occludes the cubes in camera B", "forced_event": "gripper reaches the green cube but never closes", "gt_class": "occlusion", "forced_class": "miss_fail", "class_match": false }, { "index": 289157, "repo_id": "FeiYjf/new_GtoR", "episode_index": 374, "frame_index": 303, "instruction": "Move along the line on the paper from start to end.", "gt_event": "episode ends with scene identical to start", "forced_event": "arm returns to home pose with cubes untouched", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 292588, "repo_id": "Gano007/so100_doliprane", "episode_index": 38, "frame_index": 102, "instruction": "Grasp a medic box and put it in the bin.", "gt_event": "wrist view points away from the box (blurred, shows shoe box in background)", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 292691, "repo_id": "Gano007/so100_doliprane", "episode_index": 38, "frame_index": 205, "instruction": "Grasp a medic box and put it in the bin.", "gt_event": "strong motion blur in both views", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 295287, "repo_id": "Gano007/so100_gano", "episode_index": 48, "frame_index": 50, "instruction": "Grasp a box and put it in the bin.", "gt_event": "little or no visible motion", "forced_event": "arm retracts with the box still on the cloth", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 298167, "repo_id": "Gano007/so100_medic", "episode_index": 43, "frame_index": 358, "instruction": "Grasp a medic box and put it in the bin.", "gt_event": "box resting inside the blue bin; camera A still shows the box on the table (stale feed)", "forced_event": "box released into the bin", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 298475, "repo_id": "Gano007/so100_medic", "episode_index": 46, "frame_index": 307, "instruction": "Grasp a medic box and put it in the bin.", "gt_event": "box released into the blue bin", "forced_event": "box released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 300571, "repo_id": "Gano007/so100_second", "episode_index": 41, "frame_index": 249, "instruction": "Grasp a yellow box and put it in the bin.", "gt_event": "box occluded by gripper in camera B", "forced_event": "motion blur in wrist view", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 302945, "repo_id": "HITHY/so100_peach1", "episode_index": 13, "frame_index": 48, "instruction": "teleoperation", "gt_event": "robot idle at start pose", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 306323, "repo_id": "HITHY/so100_peach3", "episode_index": 89, "frame_index": 101, "instruction": "Grasp a peach and put it in the bin.", "gt_event": "peach mostly occluded by the gripper", "forced_event": "arm occludes the peach from the camera", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 313331, "repo_id": "HITHY/so100_peach4", "episode_index": 283, "frame_index": 123, "instruction": "Grasp a peach and put it on the plate.", "gt_event": "peach occluded by the gripper body", "forced_event": "arm occludes the peach from the camera", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 314740, "repo_id": "HITHY/so100_peach4", "episode_index": 355, "frame_index": 86, "instruction": "Grasp a peach and put it on the plate.", "gt_event": "arm partly occludes the plate from the overhead view", "forced_event": "motion blur from fast arm movement", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 315540, "repo_id": "HITHY/so100_peach4", "episode_index": 371, "frame_index": 102, "instruction": "Grasp a peach and put it on the plate.", "gt_event": "peach mostly occluded by the arm", "forced_event": "motion blur from fast arm movement", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 328440, "repo_id": "Hale-Sage/Grab_cube_task", "episode_index": 79, "frame_index": 637, "instruction": "Grab the cube", "gt_event": "arm idle after completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 338464, "repo_id": "Hale-Sage/merge_data", "episode_index": 159, "frame_index": 519, "instruction": "Put the red cube on top of the blue cube", "gt_event": "arm idle after completion", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 342928, "repo_id": "Hale-Sage/merge_data", "episode_index": 377, "frame_index": 164, "instruction": "Grab the cube", "gt_event": "cube released inside the tray", "forced_event": "cube released into the tray", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 364255, "repo_id": "Haribot099/so101_60", "episode_index": 5, "frame_index": 50, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm essentially idle", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 364812, "repo_id": "Haribot099/so101_60", "episode_index": 7, "frame_index": 51, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm still nearly stationary at start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 368970, "repo_id": "Ityl/so100_recording2", "episode_index": 14, "frame_index": 162, "instruction": "Pick up the red cube and place it on top of the blue cube.", "gt_event": "red block occluded by gripper/blue block in both views", "forced_event": "red block occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 370712, "repo_id": "Jeevesh2009/so101_gray_block_midvar_test", "episode_index": 15, "frame_index": 299, "instruction": "Pick the gray block and keep it in the box.", "gt_event": "block occluded by arm/box", "forced_event": "block occluded by the arm while being carried", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 372254, "repo_id": "Jeevesh2009/so101_gray_block_midvar_test", "episode_index": 76, "frame_index": 158, "instruction": "Pick the gray block and keep it in the box.", "gt_event": "block occluded by gripper/arm", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 374476, "repo_id": "Jeevesh2009/so101_gray_block_pickup_test", "episode_index": 18, "frame_index": 169, "instruction": "Pick the gray block and keep it in the box.", "gt_event": "block released over the box; interior not directly visible", "forced_event": "block released inside the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 375079, "repo_id": "Jeevesh2009/so101_gray_block_pickup_test", "episode_index": 69, "frame_index": 100, "instruction": "Pick the gray block and keep it in the box.", "gt_event": "block occluded by the arm while the gripper descends onto it", "forced_event": "block occluded by the arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 378420, "repo_id": "Jeevesh2009/so101_new_test", "episode_index": 51, "frame_index": 349, "instruction": "Grasp the gray block and put it in the box.", "gt_event": "block occluded by gripper/arm", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 384803, "repo_id": "Jiangeng/so100_413", "episode_index": 24, "frame_index": 305, "instruction": "Pick up the cube and place it on top of the black circle.", "gt_event": "cube released back onto the paper", "forced_event": "cube released on the paper", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 384905, "repo_id": "Jiangeng/so100_413", "episode_index": 24, "frame_index": 407, "instruction": "Pick up the cube and place it on top of the black circle.", "gt_event": "gripper re-approaches the cube at episode end", "forced_event": "arm retracts with the cube still on the paper", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 391663, "repo_id": "Jinheng0130/Lay", "episode_index": 22, "frame_index": 164, "instruction": "Grasp the cup and put it on the right side of the table.", "gt_event": "cup leaves the top camera's field of view", "forced_event": "arm body occludes the cup in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 392381, "repo_id": "Jinheng0130/Lay", "episode_index": 45, "frame_index": 247, "instruction": "Grasp the cup and put it on the right side of the table.", "gt_event": "gripper repositions slightly around the cup before release", "forced_event": "arm body occludes the cup in camera A", "gt_class": "release_place", "forced_class": "occlusion", "class_match": false }, { "index": 392893, "repo_id": "Jinheng0130/Push", "episode_index": 18, "frame_index": 24, "instruction": "Push the valve with the cup.", "gt_event": "little to no visible motion since previous sample", "forced_event": "arm retracts to start with the cup still in the valve", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 393475, "repo_id": "JipJ/dice_project", "episode_index": 28, "frame_index": 110, "instruction": "Grab the blue dice", "gt_event": "die occluded by the arm as it descends", "forced_event": "die occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 394330, "repo_id": "JipJ/dice_project", "episode_index": 36, "frame_index": 334, "instruction": "Grab the blue dice", "gt_event": "gripper back at rest with no die visible; grasp outcome not verifiable", "forced_event": "arm retracts with none", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 409484, "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole", "episode_index": 41, "frame_index": 140, "instruction": "Grab the blue cylinder", "gt_event": "cylinder nudged/tipped during approach", "forced_event": "cylinder occluded by the arm in the overhead view", "gt_class": "contact_collision", "forced_class": "occlusion", "class_match": false }, { "index": 409625, "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole", "episode_index": 41, "frame_index": 281, "instruction": "Grab the blue cylinder", "gt_event": "re-approach after unsuccessful grasp attempt", "forced_event": "cylinder nudged off the gripper, gripper repositioned", "gt_class": "miss_fail", "forced_class": "contact_collision", "class_match": false }, { "index": 413372, "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole", "episode_index": 84, "frame_index": 47, "instruction": "Grab the red cube", "gt_event": "arm essentially stationary", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 421556, "repo_id": "LeRobot-worldwide-hackathon/160-LegoBot-lego_pixelart_stage_1_v1", "episode_index": 48, "frame_index": 276, "instruction": "Grab the block and put it in the grey marker", "gt_event": "human hand appears near the brick rows on the left", "forced_event": "human hand enters the workspace near the top row", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 422983, "repo_id": "LeRobot-worldwide-hackathon/160-LegoBot-lego_pixelart_stage_1_v2", "episode_index": 32, "frame_index": 210, "instruction": "Grab the block and put it in the grey marker", "gt_event": "arm body occludes the grasped block in both views", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 438014, "repo_id": "LeRobot-worldwide-hackathon/190-RecycloBots-recyclobots", "episode_index": 37, "frame_index": 132, "instruction": "Sort rubbish by color.", "gt_event": "robot still idle", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 440400, "repo_id": "LeRobot-worldwide-hackathon/190-RecycloBots-recyclobots", "episode_index": 42, "frame_index": 1266, "instruction": "Sort rubbish by color.", "gt_event": "second item released into a cup", "forced_event": "green item released into a cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 469231, "repo_id": "LeRobot-worldwide-hackathon/300-Mad_Robots-remove_orange_object", "episode_index": 0, "frame_index": 99, "instruction": "Remove orange objects from table", "gt_event": "motion blur in wrist view during fast descent", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 470528, "repo_id": "LeRobot-worldwide-hackathon/300-Mad_Robots-remove_orange_object", "episode_index": 46, "frame_index": 199, "instruction": "Remove orange objects from table", "gt_event": "object nearly fills wrist camera, occluding the view", "forced_event": "object occluded by arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 471205, "repo_id": "LeRobot-worldwide-hackathon/347-WaterworksCrew-HandymanBot", "episode_index": 7, "frame_index": 262, "instruction": "Pick up the bolt and place it in the pink box", "gt_event": "arm body largely occludes the top view", "forced_event": "arm occludes the box in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 475218, "repo_id": "LeRobot-worldwide-hackathon/364-ET_HOME_SERVICE-grab_can_sat", "episode_index": 16, "frame_index": 50, "instruction": "Pick up the can.", "gt_event": "arm essentially stationary, delayed start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 486480, "repo_id": "LeRobot-worldwide-hackathon/91-AM-PM-pouring-liquid", "episode_index": 55, "frame_index": 251, "instruction": "Pick up a kettle and pour liquid into a cup.", "gt_event": "a few drops spilled on the mat", "forced_event": "kettle released back onto the mat", "gt_class": "drop_slip", "forced_class": "release_place", "class_match": false }, { "index": 491700, "repo_id": "Loki0929/so100_100", "episode_index": 29, "frame_index": 48, "instruction": "Grasp a rubber duck and put it in the box.", "gt_event": "arm essentially idle at start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 493156, "repo_id": "Loki0929/so100_100", "episode_index": 65, "frame_index": 53, "instruction": "Grasp a rubber duck and put it in the box.", "gt_event": "arm still idle at start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 495893, "repo_id": "Mazytomo/so101_test", "episode_index": 0, "frame_index": 348, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released into the bowl", "forced_event": "block released into the bowl", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 498639, "repo_id": "Mohamedal/put_banana_bowl_dis", "episode_index": 3, "frame_index": 94, "instruction": "put banana in the red bowl.", "gt_event": "arm still idle", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 501490, "repo_id": "Mohamedal/put_banana_bowl_dis_test2", "episode_index": 8, "frame_index": 119, "instruction": "put the banana in the red bowl .", "gt_event": "motion blur from fast transfer motion", "forced_event": "motion blur in camera A", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 509565, "repo_id": "Mohamedal/put_lemon_bowl_data", "episode_index": 11, "frame_index": 289, "instruction": "put the lemon in the red bowl.", "gt_event": "grasp occurs off-frame at the left edge of both views", "forced_event": "arm partially out of camera A view", "gt_class": "grasp_pickup", "forced_class": "camera_view", "class_match": false }, { "index": 527907, "repo_id": "Mwuqiu/so100_0408", "episode_index": 15, "frame_index": 52, "instruction": "Grasp a yellow duck and put it in the box.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 538018, "repo_id": "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA", "episode_index": 116, "frame_index": 51, "instruction": "Pick up the object and place it in the box.", "gt_event": "arm still idle at start pose", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 543030, "repo_id": "Ninkofu/sushi_put", "episode_index": 47, "frame_index": 277, "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen", "gt_event": "wrist camera pointed away from the workspace, motion blur", "forced_event": "wrist view almost fully occluded by the train", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 543236, "repo_id": "Ninkofu/sushi_put", "episode_index": 50, "frame_index": 150, "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen", "gt_event": "camera B heavily motion-blurred", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 543721, "repo_id": "Ninkofu/sushi_put", "episode_index": 76, "frame_index": 54, "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen", "gt_event": "strong motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 544647, "repo_id": "Odog16/so100_cube_drop_pick_v1", "episode_index": 0, "frame_index": 47, "instruction": "Pick up the orange cube, release it, and then pick it up again.", "gt_event": "cube released / no longer in the jaws", "forced_event": "cube released onto the mat", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 544882, "repo_id": "Odog16/so100_cube_drop_pick_v1", "episode_index": 3, "frame_index": 93, "instruction": "Pick up the orange cube, release it, and then pick it up again.", "gt_event": "cube released onto mat (intended drop)", "forced_event": "cube released onto the mat", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 545606, "repo_id": "Odog16/so100_cube_stacking_v1", "episode_index": 2, "frame_index": 50, "instruction": "Stack the cubes in the following order from bottom to top: black, blue, then orange.", "gt_event": "arm essentially idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 560437, "repo_id": "Pi-robot/barbecue_flip", "episode_index": 18, "frame_index": 149, "instruction": "Pick up the orange cone and place it on the table.", "gt_event": "arm occludes the skewers in camera A", "forced_event": "wrist view heavily motion-blurred", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 560735, "repo_id": "Pi-robot/barbecue_flip", "episode_index": 18, "frame_index": 447, "instruction": "Pick up the orange cone and place it on the table.", "gt_event": "robot idle at home pose", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 561631, "repo_id": "Pi-robot/barbecue_flip", "episode_index": 25, "frame_index": 447, "instruction": "Pick up the orange cone and place it on the table.", "gt_event": "arm idle at home pose", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 568893, "repo_id": "ROI-su7/koch_test01", "episode_index": 10, "frame_index": 96, "instruction": "Pick the red block.", "gt_event": "arm idle", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 570498, "repo_id": "ROI-su7/koch_test01", "episode_index": 36, "frame_index": 374, "instruction": "Pick the red block.", "gt_event": "heavy motion blur during fast arm move", "forced_event": "arm re-approaches with the object still on the mat", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 570731, "repo_id": "ROI-su7/koch_test01", "episode_index": 36, "frame_index": 607, "instruction": "Pick the red block.", "gt_event": "episode ends with object back on the table, gripper empty", "forced_event": "arm idle", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 570783, "repo_id": "ROI-su7/koch_test01", "episode_index": 41, "frame_index": 51, "instruction": "Pick the red block.", "gt_event": "arm idle at home pose", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 571292, "repo_id": "RasmusP/so100_Orange2Green", "episode_index": 1, "frame_index": 50, "instruction": "Grasp the orange block and drop it in the box.", "gt_event": "arm essentially stationary at start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 572282, "repo_id": "RasmusP/so100_Orange2Green", "episode_index": 24, "frame_index": 445, "instruction": "Grasp the orange block and drop it in the box.", "gt_event": "block released into the box", "forced_event": "block released into the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 586518, "repo_id": "Ryosei2/0704_donut3", "episode_index": 7, "frame_index": 262, "instruction": "Pick up Objects on the grey area and place it on the white dish.", "gt_event": "camera A frame is entirely black", "forced_event": "arm withdraws from the dish", "gt_class": "camera_view", "forced_class": "other", "class_match": false }, { "index": 590583, "repo_id": "SeanLMH/so100_picknplace", "episode_index": 82, "frame_index": 254, "instruction": "Pick up the blue block and place it in the yellow box.", "gt_event": "camera A framing appears shifted relative to earlier frames", "forced_event": "arm and cubes partly occluded at top edge", "gt_class": "camera_view", "forced_class": "occlusion", "class_match": false }, { "index": 590786, "repo_id": "SeanLMH/so100_picknplace", "episode_index": 85, "frame_index": 49, "instruction": "Pick up the blue block and place it in the yellow box.", "gt_event": "little to no motion between frames 1 and 50", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 592072, "repo_id": "SeanLMH/so100_picknplace", "episode_index": 99, "frame_index": 157, "instruction": "Pick up the blue block and place it in the yellow box.", "gt_event": "cube hidden behind arm in camera A", "forced_event": "block occluded by the arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 600718, "repo_id": "T1g3rGE/so100_pickplace_small_20250407_171912", "episode_index": 8, "frame_index": 283, "instruction": "Grasp items from right and place in black tray on the left", "gt_event": "severe motion blur", "forced_event": "heavy motion blur", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 601190, "repo_id": "T1g3rGE/so100_pickplace_small_20250407_171912", "episode_index": 8, "frame_index": 755, "instruction": "Grasp items from right and place in black tray on the left", "gt_event": "severe motion blur", "forced_event": "heavy motion blur, none", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 604765, "repo_id": "ThomasGossard/grab_box_h3", "episode_index": 3, "frame_index": 100, "instruction": "Grab the white handle of the orange box", "gt_event": "motion blur in camera B", "forced_event": "gripper contacts the handle", "gt_class": "blur", "forced_class": "contact_collision", "class_match": false }, { "index": 604814, "repo_id": "ThomasGossard/grab_box_h3", "episode_index": 3, "frame_index": 149, "instruction": "Grab the white handle of the orange box", "gt_event": "heavy motion blur / overexposure in camera B", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 620702, "repo_id": "Vertax/act_koch_pick_place_rgb_lego", "episode_index": 98, "frame_index": 656, "instruction": "Grasp RGB lego blocks and put them in the bin one by one.", "gt_event": "green block released into bin", "forced_event": "green block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 638739, "repo_id": "Waykzen/raju2", "episode_index": 23, "frame_index": 564, "instruction": "Move the piece to destination", "gt_event": "piece appears released on the board", "forced_event": "arm retracts out of the camera view", "gt_class": "release_place", "forced_class": "occlusion", "class_match": false }, { "index": 640293, "repo_id": "Waykzen/raju2", "episode_index": 33, "frame_index": 329, "instruction": "Move the piece to destination", "gt_event": "gripper closes over the marked source square", "forced_event": "arm passes close to camera A, occluding much of the board", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 648761, "repo_id": "XXRRSSRR/so100_v3_num_episodes_50", "episode_index": 6, "frame_index": 433, "instruction": "Grasp a box and put it in the side.", "gt_event": "scene idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 649387, "repo_id": "XXRRSSRR/so100_v3_num_episodes_50", "episode_index": 22, "frame_index": 481, "instruction": "Grasp a box and put it in the side.", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 649966, "repo_id": "XXRRSSRR/so100_v3_num_episodes_50", "episode_index": 31, "frame_index": 482, "instruction": "Grasp a box and put it in the side.", "gt_event": "arm idle at rest", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 651171, "repo_id": "XXRRSSRR/so100_v3_num_episodes_50", "episode_index": 39, "frame_index": 529, "instruction": "Grasp a box and put it in the side.", "gt_event": "human hand enters frame at right edge (teleoperator)", "forced_event": "box released on the table, arm retracted", "gt_class": "human", "forced_class": "release_place", "class_match": false }, { "index": 652357, "repo_id": "Yanis7777/so100_duck", "episode_index": 16, "frame_index": 103, "instruction": "Grasp a duck and put it on the black surface.", "gt_event": "arm body occludes much of camera A's workspace view", "forced_event": "duck occluded by arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 653007, "repo_id": "ZCM5115/so100_1210", "episode_index": 0, "frame_index": 106, "instruction": "picks up the USB cable.", "gt_event": "wrist camera swings away from the workspace toward the laptop/desk", "forced_event": "wrist camera swings up toward the keyboard, workspace out of view", "gt_class": "camera_view", "forced_class": "occlusion", "class_match": false }, { "index": 653488, "repo_id": "ZCM5115/so100_1210", "episode_index": 31, "frame_index": 53, "instruction": "picks up the USB cable.", "gt_event": "fast arm motion causes heavy motion blur", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 659268, "repo_id": "aaronsu11/so100_lego", "episode_index": 21, "frame_index": 549, "instruction": "Grasp a lego block and put it on the plate.", "gt_event": "arm idle at home pose after task completion", "forced_event": "arm idle at rest pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 665737, "repo_id": "abokinala/sputnik_100_14_pick_place_container", "episode_index": 1, "frame_index": 51, "instruction": "Place blue marker in the center of the table into mug with cap down.", "gt_event": "arm essentially stationary", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 667576, "repo_id": "abokinala/sputnik_100_46_custom_tasks", "episode_index": 18, "frame_index": 150, "instruction": "pick up sideways cup and place it upside down", "gt_event": "motion blur in camera A during fast lift", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 671951, "repo_id": "acrampette/third_arm_01", "episode_index": 8, "frame_index": 660, "instruction": "Pick up the circuit board from the table.", "gt_event": "arm idle", "forced_event": "idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 672666, "repo_id": "acrampette/third_arm_01", "episode_index": 28, "frame_index": 329, "instruction": "Pick up the circuit board from the table.", "gt_event": "object released back into the human hand", "forced_event": "human hand presents the tape roll in the open hand", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 676214, "repo_id": "acrampette/third_arm_02", "episode_index": 23, "frame_index": 149, "instruction": "Pick up the tie and place it in the box.", "gt_event": "tool positioned between the jaws, grasp state ambiguous", "forced_event": "arm and object largely occluded by the hand", "gt_class": "grasp_pickup", "forced_class": "occlusion", "class_match": false }, { "index": 676662, "repo_id": "acrampette/third_arm_02", "episode_index": 35, "frame_index": 298, "instruction": "Pick up the tie and place it in the box.", "gt_event": "gripper appears to release; tool stays with the human hand as the arm pulls back; heavy motion blur", "forced_event": "tool released into the open gripper", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 676812, "repo_id": "acrampette/third_arm_02", "episode_index": 39, "frame_index": 149, "instruction": "Pick up the tie and place it in the box.", "gt_event": "strong motion blur from fast camera/arm swing", "forced_event": "tool released back to the hand, gripper no longer holding it", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 677610, "repo_id": "acrampette/third_arm_02", "episode_index": 63, "frame_index": 50, "instruction": "Pick up the tie and place it in the box.", "gt_event": "human hand presents the screwdriver to the gripper", "forced_event": "human hand presents the screwdriver", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 677858, "repo_id": "acrampette/third_arm_02", "episode_index": 63, "frame_index": 298, "instruction": "Pick up the tie and place it in the box.", "gt_event": "screwdriver no longer in the gripper; hand withdraws the object as the arm returns to rest", "forced_event": "arm idle", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 678008, "repo_id": "acrampette/third_arm_02", "episode_index": 68, "frame_index": 149, "instruction": "Pick up the tie and place it in the box.", "gt_event": "human presents a screwdriver in the field of view", "forced_event": "arm essentially stationary, idle start", "gt_class": "human", "forced_class": "idle", "class_match": false }, { "index": 678257, "repo_id": "acrampette/third_arm_02", "episode_index": 89, "frame_index": 99, "instruction": "Pick up the tie and place it in the box.", "gt_event": "human hand presents a screwdriver", "forced_event": "human hand presents the screwdriver", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 678755, "repo_id": "acrampette/third_arm_02", "episode_index": 90, "frame_index": 298, "instruction": "Pick up the tie and place it in the box.", "gt_event": "jaws appear to open again around the screwdriver, grasp not clearly secured at episode end", "forced_event": "human hand still supports the screwdriver", "gt_class": "grasp_pickup", "forced_class": "human", "class_match": false }, { "index": 681703, "repo_id": "ad330/so100_box_pickPlace", "episode_index": 14, "frame_index": 249, "instruction": "places jar in box.", "gt_event": "jar knocked over and lying on its side inside the box", "forced_event": "jar occluded by the arm in the top view", "gt_class": "contact_collision", "forced_class": "occlusion", "class_match": false }, { "index": 685356, "repo_id": "ahork/record-test-02", "episode_index": 4, "frame_index": 849, "instruction": "use spoon to take food", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 686990, "repo_id": "aidinism/arm-record-14", "episode_index": 5, "frame_index": 390, "instruction": "Grab the Blue cube", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 687334, "repo_id": "aidinism/arm-record-47", "episode_index": 4, "frame_index": 246, "instruction": "Grab the Blue cube", "gt_event": "cube appears released near the bottom-left of the workspace", "forced_event": "arm idle at home pose", "gt_class": "release_place", "forced_class": "idle", "class_match": false }, { "index": 691308, "repo_id": "aimihat/so100_tape", "episode_index": 20, "frame_index": 199, "instruction": "Pick up the tape and put it in the bowl.", "gt_event": "tape released into the pot, no longer on the table", "forced_event": "tape released into the pot", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 693500, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 24, "frame_index": 298, "instruction": "Pick up the cube and place it in the box.", "gt_event": "camera B frame is blurred", "forced_event": "arm idle at rest", "gt_class": "blur", "forced_class": "idle", "class_match": false }, { "index": 694547, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 54, "frame_index": 149, "instruction": "Remove the cube from the box.", "gt_event": "slight motion blur from fast transfer", "forced_event": "motion blur in camera B", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 694896, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 60, "frame_index": 199, "instruction": "Pick up the cube and place it in the box.", "gt_event": "motion blur from fast retraction", "forced_event": "cube released into the tray", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 697093, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 105, "frame_index": 299, "instruction": "Pick up the pen and put it in the pen holder.", "gt_event": "episode ends with the pen still in the gripper, holder empty", "forced_event": "pen lifted and held above the workspace", "gt_class": "episode_marker", "forced_class": "grasp_pickup", "class_match": false }, { "index": 697693, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 115, "frame_index": 299, "instruction": "Pick up the pen and put it in the pen holder.", "gt_event": "pen released outside the holder and ends up lying on the table", "forced_event": "motion blur in camera B", "gt_class": "release_place", "forced_class": "blur", "class_match": false }, { "index": 699044, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 175, "frame_index": 150, "instruction": "Pick up the pen and put it in the pen holder.", "gt_event": "pen positioned inside the holder; camera B frame heavily blurred", "forced_event": "pen released into the holder", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 701493, "repo_id": "akira-sasaki/akabeko_instruct_v1", "episode_index": 263, "frame_index": 199, "instruction": "Pick up the yellow tape and place it in the box.", "gt_event": "motion blur in camera B", "forced_event": "tape released on the purple tray instead of inside the white box", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 706144, "repo_id": "akira-sasaki/akabeko_instruct_v2", "episode_index": 168, "frame_index": 50, "instruction": "Remove the cube from the box.", "gt_event": "no motion yet, arm idle", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 717248, "repo_id": "akira-sasaki/smolvla_base", "episode_index": 18, "frame_index": 199, "instruction": "Grasp a red block and put it in the left red dish.", "gt_event": "arm briefly leaves camera B field of view", "forced_event": "block released into the red dish", "gt_class": "camera_view", "forced_class": "release_place", "class_match": false }, { "index": 719241, "repo_id": "akira-sasaki/smolvla_base", "episode_index": 84, "frame_index": 99, "instruction": "Grasp a red block and put it in the left red dish.", "gt_event": "slight motion blur in camera A", "forced_event": "gripper closes on the tape roll", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 721015, "repo_id": "ameimei/record-test", "episode_index": 29, "frame_index": 216, "instruction": "Grab the black cube to the white zone", "gt_event": "arm body occludes the cube from the camera", "forced_event": "arm body occludes the cube and the white zone", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 727160, "repo_id": "aractingi/push_cube_front_side_reward_long", "episode_index": 6, "frame_index": 99, "instruction": "Push the green cube to the yellow sticker", "gt_event": "cube occluded by the arm in camera B", "forced_event": "cube now lies on the yellow sticker", "gt_class": "occlusion", "forced_class": "other", "class_match": false }, { "index": 730026, "repo_id": "aractingi/push_cube_square_light_reward", "episode_index": 16, "frame_index": 384, "instruction": "Push the green cube to the square area", "gt_event": "cube pushed too far, resting on the square's top-right edge", "forced_event": "cube now inside the square outline", "gt_class": "contact_collision", "forced_class": "other", "class_match": false }, { "index": 738112, "repo_id": "arulloomba/so100_test_trimmed", "episode_index": 17, "frame_index": 200, "instruction": "Grasp a block and put it in the bin.", "gt_event": "gripper lowered inside the bin, block occluded", "forced_event": "block released into the bin", "gt_class": "occlusion", "forced_class": "release_place", "class_match": false }, { "index": 739312, "repo_id": "arulloomba/so100_test_trimmed", "episode_index": 36, "frame_index": 200, "instruction": "Grasp a block and put it in the bin.", "gt_event": "block released into the bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 741805, "repo_id": "asafxrev/so100_jenga_box_may28_2cam_bg", "episode_index": 10, "frame_index": 893, "instruction": "Grab a Jenga piece and put it on top the box", "gt_event": "arm idle at rest pose", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 745435, "repo_id": "b3rnd/record-50-episodes", "episode_index": 45, "frame_index": 49, "instruction": "Grab the black cube and stack on the red cube", "gt_event": "arm still idle at start pose", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 752389, "repo_id": "baladhurgesh97/so100_final_picking_3", "episode_index": 12, "frame_index": 717, "instruction": "Grasp a carrot, plastic bottle and put it in respective bins.", "gt_event": "carrot released into the left cup", "forced_event": "carrot released into the cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 765458, "repo_id": "bensprenger/chess_game_001_blue_stereo", "episode_index": 40, "frame_index": 148, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "motion blur in the moving camera", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 766666, "repo_id": "bensprenger/chess_game_001_blue_stereo", "episode_index": 99, "frame_index": 101, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "wrist view heavily blurred and largely occluded by the gripper body", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 768783, "repo_id": "bensprenger/chess_game_001_blue_stereo", "episode_index": 141, "frame_index": 226, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "motion blur in camera B while the arm retracts", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 768893, "repo_id": "bensprenger/chess_game_001_blue_stereo", "episode_index": 151, "frame_index": 52, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "arm essentially stationary at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 770432, "repo_id": "bensprenger/chess_game_001_blue_stereo", "episode_index": 167, "frame_index": 99, "instruction": "Move the blue chess pieces to the highlighted squares.", "gt_event": "camera B motion blur during descent", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 778522, "repo_id": "bensprenger/left_arm_yellow_brick_in_box_with_purple_noise_v0", "episode_index": 7, "frame_index": 50, "instruction": "Grasp a yellow lego block and put it in the bin.", "gt_event": "little to no motion (idle start)", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 782903, "repo_id": "bensprenger/right_arm_p_brick_in_box_with_y_noise_v0", "episode_index": 25, "frame_index": 248, "instruction": "Grasp the purple lego block and put it in the box.", "gt_event": "motion blur in wrist view", "forced_event": "arm occludes the block in camera A", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 786673, "repo_id": "bjb7/so101_berm_build_test_1", "episode_index": 24, "frame_index": 630, "instruction": "Build a berm.", "gt_event": "person walks through the background of camera A", "forced_event": "arm body occludes the scoop", "gt_class": "human", "forced_class": "occlusion", "class_match": false }, { "index": 796091, "repo_id": "bjb7/so101_pen_touch_test_1", "episode_index": 2, "frame_index": 181, "instruction": "Touch the pen.", "gt_event": "gripper tip contacts the pen", "forced_event": "arm essentially stationary", "gt_class": "contact_collision", "forced_class": "idle", "class_match": false }, { "index": 796381, "repo_id": "bjb7/so101_pen_touch_test_1", "episode_index": 18, "frame_index": 132, "instruction": "Touch the pen.", "gt_event": "gripper fingertips contact the pen", "forced_event": "arm essentially stationary", "gt_class": "contact_collision", "forced_class": "idle", "class_match": false }, { "index": 796732, "repo_id": "bjb7/so101_pen_touch_test_1", "episode_index": 33, "frame_index": 144, "instruction": "Touch the pen.", "gt_event": "arm still idle", "forced_event": "arm retracts away from the pen", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 799250, "repo_id": "bjb7/so101_pen_touch_test_2", "episode_index": 60, "frame_index": 256, "instruction": "Touch the pen.", "gt_event": "gripper re-contacts the pen", "forced_event": "arm essentially stationary", "gt_class": "contact_collision", "forced_class": "idle", "class_match": false }, { "index": 802803, "repo_id": "bnarin/so100_tic_tac_toe_move_4_0", "episode_index": 0, "frame_index": 547, "instruction": "grab a blue block. And place it in the tic tac toe board", "gt_event": "arm appears idle after task completion", "forced_event": "block released into the empty cell", "gt_class": "idle", "forced_class": "release_place", "class_match": false }, { "index": 805782, "repo_id": "carpit680/giraffe_sock_demo_1", "episode_index": 6, "frame_index": 118, "instruction": "Grasp a sock off the floor.", "gt_event": "arm partially outside the left edge of frame", "forced_event": "arm body occludes the sock and gripper", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 806687, "repo_id": "carpit680/giraffe_sock_demo_2", "episode_index": 9, "frame_index": 71, "instruction": "Drop a sock into the bin.", "gt_event": "sock largely occluded by the arm over the basket", "forced_event": "arm occludes the basket and bin", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 810317, "repo_id": "cezarsolo/so100_data", "episode_index": 44, "frame_index": 298, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released over the bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 811064, "repo_id": "cezarsolo/so100_newdata", "episode_index": 6, "frame_index": 497, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 811163, "repo_id": "cezarsolo/so100_newdata", "episode_index": 6, "frame_index": 596, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "block released into the bin", "gt_class": "idle", "forced_class": "release_place", "class_match": false }, { "index": 811661, "repo_id": "cezarsolo/so100_newdata", "episode_index": 7, "frame_index": 497, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 811810, "repo_id": "cezarsolo/so100_newdata", "episode_index": 27, "frame_index": 49, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 814918, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 34, "frame_index": 197, "instruction": "Place the circle to the center right box", "gt_event": "arm dwells near the pick location with little motion", "forced_event": "ring occluded by the arm during grasp", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 814967, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 34, "frame_index": 246, "instruction": "Place the circle to the center right box", "gt_event": "arm occludes the board and the carried ring", "forced_event": "ring occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 815223, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 37, "frame_index": 107, "instruction": "Place the circle to the center right box", "gt_event": "arm occludes the ring pile", "forced_event": "ring occluded by the arm during grasp", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 817300, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 86, "frame_index": 269, "instruction": "Place the circle to the center bottom box", "gt_event": "ring released into the middle cell of the row nearest the robot, not the image bottom-center cell", "forced_event": "ring released in the top-left cell, not the center-bottom cell", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 819991, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 161, "frame_index": 144, "instruction": "Place the circle to the top right corner box", "gt_event": "ring largely occluded by the arm", "forced_event": "ring occluded by arm during transport", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 820435, "repo_id": "charleyong/so100_tic_tac_toe_autoend", "episode_index": 172, "frame_index": 250, "instruction": "Place the circle to the top right corner box", "gt_event": "arm body occludes the placement area", "forced_event": "ring occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 827588, "repo_id": "chirag1701/new0_green_block", "episode_index": 37, "frame_index": 342, "instruction": "pick the green lego block and place it into the transparent box", "gt_event": "block released inside the transparent box", "forced_event": "block released inside the transparent box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 842369, "repo_id": "chmadran/so100_dataset04", "episode_index": 0, "frame_index": 213, "instruction": "picks the blue block and places it in the red cup.", "gt_event": "brick occluded by the arm during transport", "forced_event": "arm occludes the cup and workspace", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 844045, "repo_id": "chmadran/so100_dataset08", "episode_index": 0, "frame_index": 110, "instruction": "places blue block on paper.", "gt_event": "block appears to have been released near/into the cup", "forced_event": "brick released into the cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 845652, "repo_id": "chmadran/so100_dataset08", "episode_index": 33, "frame_index": 247, "instruction": "places blue block on paper.", "gt_event": "brick released into the cup", "forced_event": "brick released into 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"repo_id": "dopaul/game_v7", "episode_index": 23, "frame_index": 159, "instruction": "Move the chess piece from red to blue", "gt_event": "piece partly occluded by the arm in the overhead view", "forced_event": "arm occludes the target square in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 978358, "repo_id": "doujiangwang/task1_10epi_100000step", "episode_index": 1, "frame_index": 47, "instruction": "Grab a piece of tape and put it in the box.", "gt_event": "little to no motion (start-up idle)", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 984315, "repo_id": "dragon-95/so100_sorting_2", "episode_index": 18, "frame_index": 49, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 989993, "repo_id": "dragon-95/so100_sorting_2", "episode_index": 150, "frame_index": 188, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "new object appears in box A (scene reset by operator)", "forced_event": "arm nearly stationary", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 990839, "repo_id": "dragon-95/so100_sorting_2", "episode_index": 150, "frame_index": 1034, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "next object placed in box A", "forced_event": "sachet released into box B", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1005942, "repo_id": "dragon-95/so100_sorting_3", "episode_index": 148, "frame_index": 467, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "motion blur on camera A during fast transfer", "forced_event": "object occluded by arm while being carried", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1007080, "repo_id": "dragon-95/so100_sorting_3", "episode_index": 161, "frame_index": 493, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "package slips out of the gripper back into box A", "forced_event": "gripper reaches the packet but no grasp is observed", "gt_class": "drop_slip", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1007715, "repo_id": "dragon-95/so100_sorting_3", "episode_index": 166, "frame_index": 387, "instruction": "Pick up the object from box A and place it in box B.", "gt_event": "repeated grasp attempt inside box A", "forced_event": "pen released into box B", "gt_class": "miss_fail", "forced_class": "release_place", "class_match": false }, { "index": 1012462, "repo_id": "dulics/so100_strawberry_bear", "episode_index": 4, "frame_index": 50, "instruction": "Grasp a strawberry bear and put it in the bin.", "gt_event": "arm idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1023511, "repo_id": "ethanCSL/box_test", "episode_index": 5, "frame_index": 54, "instruction": "Open the drawer pick up the cube and put it in the drawer.", "gt_event": "strong motion blur from fast arm movement", "forced_event": "fast motion causes motion blur", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1034803, "repo_id": "francescocrivelli/carrot_eating", "episode_index": 7, "frame_index": 528, "instruction": "pick up carrot and bring to mouth", "gt_event": "carrot delivered at the mouth", "forced_event": "carrot held at the mouth for the bite", "gt_class": "other", "forced_class": "human", "class_match": false }, { "index": 1037974, "repo_id": "francescocrivelli/orange_feeding", "episode_index": 14, "frame_index": 521, "instruction": "pick up orange piece and feed to person", "gt_event": "person bites the food piece", "forced_event": "person bites the piece", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 1045715, "repo_id": "ganker5/so100_action_20250403", "episode_index": 5, "frame_index": 162, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm reaches over empty paper, nothing grasped", "forced_event": "arm outside the camera view", "gt_class": "grasp_pickup", "forced_class": "camera_view", "class_match": false }, { "index": 1045823, "repo_id": "ganker5/so100_action_20250403", "episode_index": 5, "frame_index": 270, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm back at start pose, task never attempted", "forced_event": "arm outside the camera view", "gt_class": "miss_fail", "forced_class": "camera_view", "class_match": false }, { "index": 1046125, "repo_id": "ganker5/so100_color_0328", "episode_index": 0, "frame_index": 67, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released inside the circle", "forced_event": "block released inside the circle", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1046203, "repo_id": "ganker5/so100_color_0328", "episode_index": 7, "frame_index": 55, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm nearly stationary, little progress", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1047668, "repo_id": "ganker5/so100_dataline_0328", "episode_index": 1, "frame_index": 49, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm essentially stationary at start pose", "forced_event": "arm partially occludes the cable in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1048157, "repo_id": "ganker5/so100_dataline_0328", "episode_index": 5, "frame_index": 50, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm nearly stationary, slow start", "forced_event": "arm nearly stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1053629, "repo_id": "ganker5/so100_push_20250328", "episode_index": 36, "frame_index": 265, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "scene appears unchanged from previous sample (idle)", "forced_event": "tape roll pushed toward the drawn circle", "gt_class": "idle", "forced_class": "contact_collision", "class_match": false }, { "index": 1059522, "repo_id": "ganker5/so100_toy_20250402", "episode_index": 23, "frame_index": 467, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "toy released at the bin rim rather than clearly inside", "forced_event": "toy released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1060364, "repo_id": "ganker5/so100_toy_20250402", "episode_index": 56, "frame_index": 49, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm nearly stationary", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1065100, "repo_id": "gerotropic/so101_pnp", "episode_index": 19, "frame_index": 378, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "slow hovering above the block", "forced_event": "arm occludes the block in camera A", "gt_class": "miss_fail", "forced_class": "occlusion", "class_match": false }, { "index": 1070110, "repo_id": "gribok201/150episodes6", "episode_index": 29, "frame_index": 541, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1070782, "repo_id": "gribok201/150episodes6", "episode_index": 30, "frame_index": 474, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block lost from wrist view, grasp attempt missed", "forced_event": "gripper occludes the block in the overhead view", "gt_class": "miss_fail", "forced_class": "occlusion", "class_match": false }, { "index": 1071067, "repo_id": "gribok201/150episodes6", "episode_index": 30, "frame_index": 759, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released into bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1077152, "repo_id": "gribok201/150episodes6", "episode_index": 94, "frame_index": 826, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1080451, "repo_id": "gxy1111/so100_pick_place_easy", "episode_index": 13, "frame_index": 115, "instruction": "Grasp a tape and put it in the target area.", "gt_event": "tape occluded by arm in the external view", "forced_event": "wrist view heavily blurred/underexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1083875, "repo_id": "hegdearyandev/so100_eraser_cup_v1", "episode_index": 26, "frame_index": 51, "instruction": "picks up the red object.", "gt_event": "arm essentially idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1084621, "repo_id": "hkphoooey/throw_stuffie", "episode_index": 8, "frame_index": 99, "instruction": "Grab stuffed animal and throw it on the dot.", "gt_event": "little to no arm motion between samples", "forced_event": "arm partially occludes the stuffie", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1085031, "repo_id": "hkphoooey/throw_stuffie", "episode_index": 15, "frame_index": 160, "instruction": "Grab stuffed animal and throw it on the dot.", "gt_event": "toy released back onto the table well short of the dot", "forced_event": "arm occludes the stuffie", "gt_class": "release_place", "forced_class": "occlusion", "class_match": false }, { "index": 1085873, "repo_id": "hkphoooey/throw_stuffie", "episode_index": 53, "frame_index": 221, "instruction": "Grab stuffed animal and throw it on the dot.", "gt_event": "human hand brings the stuffed animal back near the dot (reset begins)", "forced_event": "arm retracts with the toy still on the pink card, no longer in the air", "gt_class": "human", "forced_class": "other", "class_match": false }, { "index": 1086271, "repo_id": "hkphoooey/throw_stuffie", "episode_index": 91, "frame_index": 168, "instruction": "Grab stuffed animal and throw it on the dot.", "gt_event": "toy lands against the edge of the target card, not on the dot", "forced_event": "arm retracts with the toy still on the table, no longer in the air", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1087661, "repo_id": "hkphoooey/throw_stuffie", "episode_index": 117, "frame_index": 241, "instruction": "Grab stuffed animal and throw it on the dot.", "gt_event": "toy lands beside/on the edge of the pink card, not centered on the dot", "forced_event": "stuffie lands on the target, not the target area", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1094757, "repo_id": "isadev/bougies1", "episode_index": 9, "frame_index": 242, "instruction": "Put the candles in the box.", "gt_event": "gripper hovers over pile without grasping", "forced_event": "gripper reaches the pile but no candle is grasped", "gt_class": "miss_fail", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1099219, "repo_id": "isadev/bougies1", "episode_index": 77, "frame_index": 403, "instruction": "Put the candles in the box.", "gt_event": "arm back at rest, scene unchanged from start", "forced_event": "arm returns to home pose with no candle deposited", "gt_class": "idle", "forced_class": "release_place", "class_match": false }, { "index": 1099368, "repo_id": "isadev/bougies2", "episode_index": 6, "frame_index": 98, "instruction": "grab the candle wick and place it in the tray.", "gt_event": "arm still idle", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1105641, "repo_id": "isadev/bougies2", "episode_index": 149, "frame_index": 53, "instruction": "grab the candle wick and place it in the tray.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1108187, "repo_id": "isadev/bougies3", "episode_index": 15, "frame_index": 52, "instruction": "Grab the candle wick by the aluminium plate and place it in the box.", "gt_event": "arm still essentially idle at start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1112477, "repo_id": "isadev/bougies3", "episode_index": 158, "frame_index": 57, "instruction": "Grab the candle wick by the aluminium plate and place it in the box.", "gt_event": "arm essentially stationary, little progress since start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1115153, "repo_id": "jbraumann/so100_1902", "episode_index": 17, "frame_index": 157, "instruction": "picks up the yellow ball.", "gt_event": "gripper contacts the yellow ball", "forced_event": "arm body occludes the yellow disc in camera A", "gt_class": "contact_collision", "forced_class": "occlusion", "class_match": false }, { "index": 1120579, "repo_id": "jchun/so100_cleaning_20250525_132814", "episode_index": 21, "frame_index": 284, "instruction": "Clean the area in front of the robot", "gt_event": "wrist camera almost fully occluded by the cloth", "forced_event": "wrist camera fully occluded by the cloth", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1122197, "repo_id": "jchun/so100_cleaning_20250525_154019", "episode_index": 6, "frame_index": 57, "instruction": "Clean the area in front of the robot", "gt_event": "wrist camera almost fully occluded by the cloth", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1123644, "repo_id": "jchun/so100_cleaning_20250525_154019", "episode_index": 26, "frame_index": 344, "instruction": "Clean the area in front of the robot", "gt_event": "cloth released on the floor", "forced_event": "cloth released on the floor", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1131074, "repo_id": "jiuyal2/so100_marker", "episode_index": 93, "frame_index": 272, "instruction": "Pick up the blue marker.", "gt_event": "green marker no longer on the mat, possibly displaced earlier", "forced_event": "arm and markers leave the camera view", "gt_class": "release_place", "forced_class": "camera_view", "class_match": false }, { "index": 1136379, "repo_id": "jlesein/TestBoulon7", "episode_index": 3, "frame_index": 0, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt still sitting in the lid at episode start (scene reset in progress)", "forced_event": "arm idle", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1137137, "repo_id": "jlesein/TestBoulon7", "episode_index": 15, "frame_index": 325, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "wrist camera swings up and shows the room instead of the workspace", "forced_event": "bolt released onto the dish", "gt_class": "camera_view", "forced_class": "release_place", "class_match": false }, { "index": 1137242, "repo_id": "jlesein/TestBoulon7", "episode_index": 20, "frame_index": 50, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "human hand has moved the bolt from the lid onto the mat (scene reset)", "forced_event": "bolt now lies on the mat (scene reset)", "gt_class": "human", "forced_class": "other", "class_match": false }, { "index": 1137847, "repo_id": "jlesein/TestBoulon7", "episode_index": 22, "frame_index": 304, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "wrist camera swings up and views the ceiling", "forced_event": "bolt released onto the dish", "gt_class": "camera_view", "forced_class": "release_place", "class_match": false }, { "index": 1138533, "repo_id": "jlesein/TestBoulon7", "episode_index": 80, "frame_index": 55, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt now lies on the mat outside the dish (moved between samples)", "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1139054, "repo_id": "jlesein/TestBoulon7", "episode_index": 93, "frame_index": 99, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "motion blur in wrist view", "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 1139820, "repo_id": "jlesein/TestBoulon7", "episode_index": 115, "frame_index": 52, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt now standing on the mat, dish empty", "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1140193, "repo_id": "jlesein/TestBoulon7", "episode_index": 140, "frame_index": 110, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt largely occluded by the arm in camera A", "forced_event": "bolt carried over the round dish", "gt_class": "occlusion", "forced_class": "other", "class_match": false }, { "index": 1141486, "repo_id": "jlesein/TestBoulon7", "episode_index": 197, "frame_index": 0, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "start state: bolt lies inside the gold dish", "forced_event": "bolt released into the dish", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 1141778, "repo_id": "jlesein/TestBoulon7", "episode_index": 229, "frame_index": 160, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "motion blur in wrist view", "forced_event": "bolt released on the disc, not clearly visible", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 1142645, "repo_id": "jlesein/TestBoulon7", "episode_index": 262, "frame_index": 122, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt largely occluded by the arm in the external view", "forced_event": "bolt occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1144021, "repo_id": "jlesein/TestBoulon7", "episode_index": 308, "frame_index": 0, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "bolt initially resting in the dish (pre-reset state)", "forced_event": "bolt released on the mat instead of the dish", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 1145153, "repo_id": "jlesein/TestBoulon7", "episode_index": 337, "frame_index": 0, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "heavy motion blur in wrist view", "forced_event": "bolt released into the dish", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 1145687, "repo_id": "jlesein/TestBoulon7", "episode_index": 363, "frame_index": 161, "instruction": "Pick up the bolt and put it on the plate.", "gt_event": "motion blur in wrist view", "forced_event": "bolt occluded by the arm in the overhead view", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1152003, "repo_id": "jmrog/record-sweet3", "episode_index": 9, "frame_index": 628, "instruction": "Grab_the_sweet", "gt_event": "sweet released into the mug", "forced_event": "sweet released into the mug", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1154772, "repo_id": "jmrog/record-sweet3", "episode_index": 34, "frame_index": 279, "instruction": "Grab_the_sweet", "gt_event": "little to no motion between samples", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1159030, "repo_id": "jmrog/so100_sweet_pick", "episode_index": 32, "frame_index": 50, "instruction": "Pick up the candy and place it in the bowl.", "gt_event": "arm essentially static, idle start", "forced_event": "arm idle at rest", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1160017, "repo_id": "jmrog/so100_sweet_pick", "episode_index": 40, "frame_index": 537, "instruction": "Pick up the candy and place it in the bowl.", "gt_event": "sweet released near/into the mug", "forced_event": "arm retracts, bowl still empty", "gt_class": "release_place", "forced_class": "other", "class_match": false }, { "index": 1160114, "repo_id": "joaoocruz00/so100_makeitD1", "episode_index": 7, "frame_index": 47, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "operator still moving behind the workspace; arm idle", "forced_event": "human hand enters the workspace (episode reset begins)", "gt_class": "other", "forced_class": "episode_marker", "class_match": false }, { "index": 1166868, "repo_id": "jonhpark/so101_pick_place", "episode_index": 39, "frame_index": 544, "instruction": "Grasp a skyblue doll and put it in the white bowl.", "gt_event": "arm idle at home after completion", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1170796, "repo_id": "jonyshaik/so101_pp_block", "episode_index": 10, "frame_index": 1500, "instruction": "Pick up the wooden block and place them on the plate.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1172390, "repo_id": "jonyshaik/so101_pp_block", "episode_index": 34, "frame_index": 1312, "instruction": "Pick up the wooden block and place them on the plate.", "gt_event": "arm idle after completion", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1177621, "repo_id": "joooonhocho/so100_doll_in_bowl_2", "episode_index": 4, "frame_index": 598, "instruction": "Grasp a skyblue doll and put it into the bowl.", "gt_event": "motion blur in camera B frame", "forced_event": "arm idle at rest pose", "gt_class": "blur", "forced_class": "idle", "class_match": false }, { "index": 1182027, "repo_id": "jpata/so100_pick_place_tangerine", "episode_index": 62, "frame_index": 171, "instruction": "Pick up the tangerine and place it.", "gt_event": "tray shifts slightly as the gripper works around it", "forced_event": "tangerine occluded by the arm in the top view", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 1187912, "repo_id": "juni3227/so100_test03", "episode_index": 58, "frame_index": 425, "instruction": "Put bottle cap(s) into a cup", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1191120, "repo_id": "juni3227/so100_test_cap02_sideway", "episode_index": 53, "frame_index": 314, "instruction": "Put bottle_cap into a cup", "gt_event": "cap released into the cup", "forced_event": "cap released into the cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1198195, "repo_id": "k1000dai/standup_petbottle", "episode_index": 10, "frame_index": 204, "instruction": "Pick up the plastic bottle and stand it up on the white place", "gt_event": "bottle largely occluded by the arm", "forced_event": "arm occludes the bottle in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1221344, "repo_id": "kantine/domotic_pouringCoffee_expert", "episode_index": 17, "frame_index": 707, "instruction": "pouring coffe in a cup", "gt_event": "arm idle after task completion", "forced_event": "arm idle at rest pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1233141, "repo_id": "kantine/flip_A4", "episode_index": 9, "frame_index": 297, "instruction": "flip A4", "gt_event": "card is now flipped down", "forced_event": "tile flipped down", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1233539, "repo_id": "kantine/flip_A5", "episode_index": 8, "frame_index": 248, "instruction": "flip A5", "gt_event": "strong motion blur in wrist view", "forced_event": "arm retracts without having flipped the tile", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 1234445, "repo_id": "kantine/industrial_robothon_buttons_anomaly", "episode_index": 0, "frame_index": 707, "instruction": "several anomalies: slider not completely pushed / inverse red and blue", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1258225, "repo_id": "kevin-nd/so100_test_2", "episode_index": 5, "frame_index": 895, "instruction": "Pickup cup and make a pile of cup.", "gt_event": "scene restored to initial layout", "forced_event": "arm essentially idle", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1260064, "repo_id": "kevin510/lerobot-cat-toy-placement", "episode_index": 15, "frame_index": 49, "instruction": "Grasp the cat toy and put it in the cup.", "gt_event": "arm essentially idle at start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1263729, "repo_id": "kirdo/Pick_all_blocks", "episode_index": 14, "frame_index": 200, "instruction": "Move blocks one by one until all three blocks are in the tray. ", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1265496, "repo_id": "kirdo/Pick_all_blocks", "episode_index": 50, "frame_index": 0, "instruction": "Move blocks one by one until all three blocks are in the tray. ", "gt_event": "blocks start already inside the tray", "forced_event": "arm withdraws from the tray", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1266519, "repo_id": "kirdo/Pick_all_blocks", "episode_index": 63, "frame_index": 94, "instruction": "Move blocks one by one until all three blocks are in the tray. ", "gt_event": "blocks now lie outside the tray - scene reset/emptying between samples", "forced_event": "strong motion blur in wrist view", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 1267608, "repo_id": "kivod/so100_cam2", "episode_index": 9, "frame_index": 48, "instruction": "Grasp a cucumber and put it in the hole.", "gt_event": "arm essentially stationary", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1268780, "repo_id": "kivod/so100_cam2", "episode_index": 34, "frame_index": 294, "instruction": "Grasp a cucumber and put it in the hole.", "gt_event": "cucumber released into the tape roll hole", "forced_event": "cucumber released into the tape roll hole", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1269177, "repo_id": "kivod/so100_cam2", "episode_index": 42, "frame_index": 298, "instruction": "Grasp a cucumber and put it in the hole.", "gt_event": "grasp not secured; cucumber shifted/rotated on the table", "forced_event": "cucumber occluded by arm in top view", "gt_class": "grasp_pickup", "forced_class": "occlusion", "class_match": false }, { "index": 1272870, "repo_id": "kkurzweil/so100_wrist_02", "episode_index": 1, "frame_index": 200, "instruction": "Find the closest Lego and put it in the bin.", "gt_event": "brick released into the bin", "forced_event": "arm retracts over the bin, no visible Lego piece", "gt_class": "release_place", "forced_class": "other", "class_match": false }, { "index": 1273135, "repo_id": "kkurzweil/so100_wrist_02", "episode_index": 5, "frame_index": 214, "instruction": "Find the closest Lego and put it in the bin.", "gt_event": "brick no longer in gripper; drop into bin not clearly visible in sampled frames", "forced_event": "little to no motion between the first sampled frames", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1275650, "repo_id": "koenvanwijk/orange50-1", "episode_index": 1, "frame_index": 44, "instruction": "Pick up the orange object and but it in the LEGO box. ", "gt_event": "strong motion blur in camera B", "forced_event": "strong motion blur in camera B", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1278846, "repo_id": "kristaqp/so101-pick-place", "episode_index": 47, "frame_index": 268, "instruction": "Pick the red object and place it in the box", "gt_event": "object released standing at the box rim, not clearly inside", "forced_event": "object released on the cardboard, not inside the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1279842, "repo_id": "kumarhans/so100_push_box_real1", "episode_index": 7, "frame_index": 47, "instruction": "Push the box on top of the target", "gt_event": "little to no motion between the first sampled frames", "forced_event": "arm partially occludes the box in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1282645, "repo_id": "kumarhans/so100_tape_task", "episode_index": 48, "frame_index": 42, "instruction": "Grasp a roll of tape and put it over the candle case.", "gt_event": "motion blur in wrist view during fast approach", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1294712, "repo_id": "kyomangold/so100_ttt_B1_v2", "episode_index": 29, "frame_index": 406, "instruction": "Pick up the round, orange token and place it in the grid on square B1.", "gt_event": "arm idle at home", "forced_event": "arm idle at rest pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1294762, "repo_id": "kyomangold/so100_ttt_B1_v2", "episode_index": 29, "frame_index": 456, "instruction": "Pick up the round, orange token and place it in the grid on square B1.", "gt_event": "arm idle at home", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1312332, "repo_id": "lirislab/guess_who_lighting", "episode_index": 28, "frame_index": 161, "instruction": "Pick up the card from the shelf.", "gt_event": "close-range frame is slightly motion-blurred", "forced_event": "strong motion blur, camera very close to board", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1313055, "repo_id": "lirislab/guess_who_lighting", "episode_index": 63, "frame_index": 212, "instruction": "Pick up the card from the shelf.", "gt_event": "episode ends with no manipulation performed", "forced_event": "arm withdraws from the board, board looks unchanged", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 1314031, "repo_id": "lirislab/guess_who_no_cond", "episode_index": 7, "frame_index": 161, "instruction": "Place the card in the slot.", "gt_event": "motion blur", "forced_event": "tile flap pressed", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 1315762, "repo_id": "lirislab/guess_who_so100", "episode_index": 20, "frame_index": 224, "instruction": "", "gt_event": "gripper contacts the board tiles (motion blur)", "forced_event": "strong motion blur, camera very close to board", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1316286, "repo_id": "lirislab/guess_who_so100", "episode_index": 26, "frame_index": 155, "instruction": "", "gt_event": "motion blur from fast approach", "forced_event": "gripper contacts the tile row", "gt_class": "blur", "forced_class": "contact_collision", "class_match": false }, { "index": 1317047, "repo_id": "lirislab/guess_who_so100", "episode_index": 59, "frame_index": 216, "instruction": "", "gt_event": "arm retreats to start pose; outcome on board not clearly visible", "forced_event": "arm essentially stationary", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1317222, "repo_id": "lirislab/guess_who_so100", "episode_index": 62, "frame_index": 174, "instruction": "", "gt_event": "close contact with board tiles, view largely occluded by the board", "forced_event": "strong motion blur, camera very close to board", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1319248, "repo_id": "lirislab/open_top_drawer_teabox", "episode_index": 17, "frame_index": 54, "instruction": "Open the top drawer of the teabox", "gt_event": "little to no motion since frame 1 (idle start)", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1325352, "repo_id": "lirislab/red_cube_into_blue_cube", "episode_index": 41, "frame_index": 168, "instruction": "Put the red cube on top of the blue cube.", "gt_event": "cube hidden behind gripper/blue cube", "forced_event": "red cube occluded by gripper in top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1328244, "repo_id": "lirislab/so100_demo", "episode_index": 27, "frame_index": 373, "instruction": "Put the banana into the red bowl.", "gt_event": "banana released leaning on the bowl rim rather than fully inside", "forced_event": "banana released into the bowl", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1328712, "repo_id": "lirislab/sweep_tissue_cube", "episode_index": 14, "frame_index": 141, "instruction": "Sweep the red cubes to the right with the tissue bag.", "gt_event": "strong motion blur in camera B", "forced_event": "gripper contacts the bag", "gt_class": "blur", "forced_class": "contact_collision", "class_match": false }, { "index": 1329567, "repo_id": "lirislab/sweep_tissue_cube", "episode_index": 22, "frame_index": 149, "instruction": "Sweep the red cubes to the right with the tissue bag.", "gt_event": "cubes swept out of both camera views; motion blur in camera B", "forced_event": "cubes leave the top camera's field of view", "gt_class": "contact_collision", "forced_class": "camera_view", "class_match": false }, { "index": 1330000, "repo_id": "lirislab/sweep_tissue_cube", "episode_index": 25, "frame_index": 283, "instruction": "Sweep the red cubes to the right with the tissue bag.", "gt_event": "second cube pushed out of both camera views", "forced_event": "cubes leave the top camera's field of view", "gt_class": "contact_collision", "forced_class": "camera_view", "class_match": false }, { "index": 1333204, "repo_id": "liuhuanjim013/so100_block", "episode_index": 76, "frame_index": 112, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block occluded by arm in overhead view", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1334619, "repo_id": "liuhuanjim013/so100_block", "episode_index": 124, "frame_index": 120, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block occluded by the arm in the overhead view", "forced_event": "wrist view heavily blurred/underexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1336009, "repo_id": "liuhuanjim013/so100_th", "episode_index": 30, "frame_index": 296, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "motion blur in both views", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1338725, "repo_id": "liuhuanjim013/so100_th", "episode_index": 72, "frame_index": 152, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "arm occludes the figure in camera A", "forced_event": "wrist view heavily blurred/underexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1339027, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 0, "frame_index": 49, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "arm nearly stationary", "forced_event": "camera B image is fully blurred/featureless", "gt_class": "idle", "forced_class": "blur", "class_match": false }, { "index": 1340126, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 9, "frame_index": 49, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "camera B image is heavily blurred/washed out", "forced_event": "arm still idle at start", "gt_class": "blur", "forced_class": "idle", "class_match": false }, { "index": 1341296, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 20, "frame_index": 48, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "little visible motion between the first samples", "forced_event": "camera B image is featureless and out of focus", "gt_class": "idle", "forced_class": "camera_view", "class_match": false }, { "index": 1342038, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 22, "frame_index": 308, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "gripper positioned over the box for release", "forced_event": "figure released inside the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1343140, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 60, "frame_index": 162, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "camera B image heavily blurred", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1344216, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 94, "frame_index": 149, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "arm body occludes the figure in camera A", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1344930, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 106, "frame_index": 205, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "camera B almost fully blurred out", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1346662, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 139, "frame_index": 58, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "camera B frame is washed out / nearly featureless", "forced_event": "camera B image is heavily blurred/underexposed", "gt_class": "camera_view", "forced_class": "blur", "class_match": false }, { "index": 1346719, "repo_id": "liuhuanjim013/so100_th_1", "episode_index": 139, "frame_index": 115, "instruction": "Grasp a lego figure and put it in the box.", "gt_event": "heavy motion blur in camera B", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1354260, "repo_id": "liyitenga/so100_pick_taffy4", "episode_index": 17, "frame_index": 48, "instruction": "test1", "gt_event": "little to no motion (idle start)", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1356095, "repo_id": "liyitenga/so100_pick_taffy6", "episode_index": 19, "frame_index": 239, "instruction": "Pick up the toy and place it in the purple cup.", "gt_event": "candy occluded by gripper/bowl at release moment", "forced_event": "candy occluded by arm while being carried", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1359455, "repo_id": "lizi178119985/so100_jia", "episode_index": 12, "frame_index": 307, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "camera B mostly occluded by the arm", "forced_event": "object occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1359946, "repo_id": "lizi178119985/so100_jia", "episode_index": 13, "frame_index": 285, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm passes very close to camera B, view nearly fully occluded", "forced_event": "object occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1360183, "repo_id": "lizi178119985/so100_jia", "episode_index": 13, "frame_index": 522, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm back at rest, scene static", "forced_event": "arm retracts with the object still on the table", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 1360986, "repo_id": "lizi178119985/so100_jia", "episode_index": 30, "frame_index": 235, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "gripper hovers over the glove but closes on nothing", "forced_event": "arm body occludes the object from the camera", "gt_class": "miss_fail", "forced_class": "occlusion", "class_match": false }, { "index": 1364522, "repo_id": "love3165303/so100_pick_ball_colors1", "episode_index": 15, "frame_index": 113, "instruction": "Grasp red ball and put it in the yello bin.", "gt_event": "ball occluded by arm in camera A", "forced_event": "arm occludes the workspace in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1368238, "repo_id": "love3165303/so100_pick_ball_colors2", "episode_index": 90, "frame_index": 205, "instruction": "Grasp red ball and put it in the yello bin.", "gt_event": "ball released into the yellow bin", "forced_event": "ball released into the yellow bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1378863, "repo_id": "m1b/so100_bluelego_updt", "episode_index": 0, "frame_index": 120, "instruction": "Pick a blue lego block and move it to the left.", "gt_event": "brick occluded by the arm in the overhead view", "forced_event": "arm body occludes the block in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1381751, "repo_id": "maitereo/so100_bag_placement_20250426", "episode_index": 28, "frame_index": 261, "instruction": "Grasp a bag and put it in the box.", "gt_event": "human hand visible near the box in the wrist view", "forced_event": "bag released into the box", "gt_class": "human", "forced_class": "release_place", "class_match": false }, { "index": 1381960, "repo_id": "maitereo/so100_bag_placement_20250426", "episode_index": 37, "frame_index": 52, "instruction": "Grasp a bag and put it in the box.", "gt_event": "arm still idle at start pose", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1389139, "repo_id": "masato-ka/so100_cutlery_handling", "episode_index": 38, "frame_index": 247, "instruction": "Place the cutlery in the same coloured dish.", "gt_event": "motion blur from fast arm movement", "forced_event": "spoon occluded by the arm while being carried", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1389535, "repo_id": "masato-ka/so100_nlact_block_instruct_v3", "episode_index": 7, "frame_index": 50, "instruction": "Position the blue block a top the yellow plate.", "gt_event": "arm idle at start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1402877, "repo_id": "meetrais/ball_in_the_box", "episode_index": 26, "frame_index": 876, "instruction": "Grasp a ball and put it in the box.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1405419, "repo_id": "meetrais/ball_in_the_box", "episode_index": 49, "frame_index": 786, "instruction": "Grasp a ball and put it in the box.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1406046, "repo_id": "meetrais/cube_in_the_box4", "episode_index": 0, "frame_index": 534, "instruction": "Grasp a cube block and put it in the white box.", "gt_event": "arm idle", "forced_event": "arm idle at home", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1409824, "repo_id": "mikechambers/block_cup_14", "episode_index": 31, "frame_index": 50, "instruction": "Grasp a block and put it in a cup.", "gt_event": "arm nearly stationary", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1411482, "repo_id": "mikechambers/block_cup_5", "episode_index": 5, "frame_index": 334, "instruction": "Grasp a block and put it cup.", "gt_event": "block released into the cup", "forced_event": "block released into the mug", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1414645, "repo_id": "mtitg/so100_set_screw", "episode_index": 9, "frame_index": 640, "instruction": "Grab the screw and set it in the hole.", "gt_event": "little visible motion, arm nearly static", "forced_event": "screw released into the hole", "gt_class": "idle", "forced_class": "release_place", "class_match": false }, { "index": 1424536, "repo_id": "nduque/new_repo_test", "episode_index": 1, "frame_index": 263, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "gripper descending/closing on the die (transition)", "forced_event": "die occluded by the arm in the top view", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 1426112, "repo_id": "nduque/robustness_e6_2", "episode_index": 20, "frame_index": 49, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1433184, "repo_id": "nduque/robustness_e6_3", "episode_index": 84, "frame_index": 386, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "dice released into the bin", "forced_event": "dice released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1436356, "repo_id": "nduque/robustness_e8", "episode_index": 0, "frame_index": 308, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "die released into the box", "forced_event": "dice released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1443251, "repo_id": "nduque/robustness_e8_nm_nf", "episode_index": 23, "frame_index": 49, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "little to no motion between the first sampled frames", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1457382, "repo_id": "nduque/robustness_e9_2", "episode_index": 120, "frame_index": 388, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "dice released into the bin", "forced_event": "dice released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1464014, "repo_id": "nduque/robustness_e9_3_dp", "episode_index": 22, "frame_index": 53, "instruction": "Grasp a green dice and put it in the bin.", "gt_event": "little motion, arm still near home", "forced_event": "arm partially occludes the green dice in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1467267, "repo_id": "near0248/woogoo_20250615_011444", "episode_index": 41, "frame_index": 296, "instruction": "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi", "gt_event": "camera B image strongly motion-blurred", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1468505, "repo_id": "near0248/woogoo_20250615_043007", "episode_index": 15, "frame_index": 49, "instruction": "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1474149, "repo_id": "orsoromeo/so101_test22", "episode_index": 43, "frame_index": 198, "instruction": "Grasp a black cylinder and put it in the bin.", "gt_event": "cylinder occluded by the arm in camera B", "forced_event": "arm occludes the cylinder in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1476618, "repo_id": "paszea/so100_lego", "episode_index": 14, "frame_index": 47, "instruction": "Grasp a lego and put it in the basket.", "gt_event": "arm essentially stationary", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1477185, "repo_id": "paszea/so100_lego", "episode_index": 14, "frame_index": 614, "instruction": "Grasp a lego and put it in the basket.", "gt_event": "lego released into the basket", "forced_event": "lego released into basket", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1485024, "repo_id": "paszea/so100_lego_mix", "episode_index": 4, "frame_index": 91, "instruction": "Grasp lego blocks and put them in the plate.", "gt_event": "arm idle at home pose", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1494650, "repo_id": "paszea/so100_whale_2", "episode_index": 0, "frame_index": 605, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "human hand appears at the laptop keyboard (no contact with objects)", "forced_event": "human hand reaches toward the laptop keyboard (episode end)", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 1495894, "repo_id": "paszea/so100_whale_2", "episode_index": 37, "frame_index": 518, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "human hand appears at the laptop, likely ending the recording", "forced_event": "human hand enters the workspace near the laptop", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 1498737, "repo_id": "paszea/so100_whale_3", "episode_index": 14, "frame_index": 434, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "motion blur during lift", "forced_event": "arm occludes the brick in the top view", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1501875, "repo_id": "paszea/so100_whale_4", "episode_index": 57, "frame_index": 93, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "arm still idle", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1502971, "repo_id": "paszea/so100_whale_4", "episode_index": 59, "frame_index": 581, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "brick released inside the basket", "forced_event": "block released into the basket", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1505810, "repo_id": "paszea/so100_whale_grab", "episode_index": 45, "frame_index": 47, "instruction": "Grasp a whale and put it in the plate.", "gt_event": "arm idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1511687, "repo_id": "pierfabre/chicken", "episode_index": 29, "frame_index": 195, "instruction": "Pick the chicken and place it to the right.", "gt_event": "wrist camera overexposed / object occluded by gripper", "forced_event": "wrist view almost fully occluded by the held chicken", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1511832, "repo_id": "pierfabre/chicken", "episode_index": 29, "frame_index": 340, "instruction": "Pick the chicken and place it to the right.", "gt_event": "little visible change from previous sample (idle/hover)", "forced_event": "arm body occludes the chicken in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1512856, "repo_id": "pierfabre/chicken", "episode_index": 40, "frame_index": 292, "instruction": "Pick the chicken and place it to the right.", "gt_event": "arm body occludes the carried object in the external view", "forced_event": "wrist camera points away from the workspace", "gt_class": "occlusion", "forced_class": "camera_view", "class_match": false }, { "index": 1513002, "repo_id": "pierfabre/chicken", "episode_index": 40, "frame_index": 438, "instruction": "Pick the chicken and place it to the right.", "gt_event": "arm idle in rest pose", "forced_event": "arm idle at rest pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1516462, "repo_id": "pierfabre/cow2", "episode_index": 24, "frame_index": 146, "instruction": "Pick the cow and place it to the right.", "gt_event": "wrist view heavily blurred by close-up object", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1516754, "repo_id": "pierfabre/cow2", "episode_index": 24, "frame_index": 438, "instruction": "Pick the cow and place it to the right.", "gt_event": "arm idle after task completion", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1517339, "repo_id": "pierfabre/cow2", "episode_index": 38, "frame_index": 487, "instruction": "Pick the cow and place it to the right.", "gt_event": "robot idle after completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1519582, "repo_id": "pierfabre/pig2", "episode_index": 12, "frame_index": 49, "instruction": "Pick the pig and place it to the right.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1525280, "repo_id": "pierfabre/rabbit", "episode_index": 1, "frame_index": 389, "instruction": "Pick the rabbit and place it to the right.", "gt_event": "wrist view heavily blurred/overexposed", "forced_event": "wrist view heavily motion-blurred", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1529375, "repo_id": "pierfabre/sheep", "episode_index": 52, "frame_index": 195, "instruction": "Pick the sheep and place it to the right.", "gt_event": "camera B view heavily blurred by close-up object", "forced_event": "wrist camera points away from the workspace", "gt_class": "blur", "forced_class": "camera_view", "class_match": false }, { "index": 1530663, "repo_id": "pietroom/actualeasytask", "episode_index": 53, "frame_index": 50, "instruction": "Grasp the marker and put it in the plastic box.", "gt_event": "little to no motion between frames 1 and 51", "forced_event": "arm essentially idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1534850, "repo_id": "pietroom/first_task_short", "episode_index": 50, "frame_index": 349, "instruction": "Pick up the marker from the box.", "gt_event": "human hand closes around the marker for the handover", "forced_event": "human hand takes the marker from the gripper", "gt_class": "human", "forced_class": "human", "class_match": true }, { "index": 1536744, "repo_id": "pietroom/first_task_short", "episode_index": 89, "frame_index": 448, "instruction": "Pick up the marker from the box.", "gt_event": "marker handed over to the person", "forced_event": "arm idle", "gt_class": "human", "forced_class": "idle", "class_match": false }, { "index": 1537792, "repo_id": "pietroom/holdthis", "episode_index": 35, "frame_index": 0, "instruction": "Hold the object steadily without releasing it.", "gt_event": "camera B very dark / underexposed", "forced_event": "arm still idle at start", "gt_class": "camera_view", "forced_class": "idle", "class_match": false }, { "index": 1538740, "repo_id": "pietroom/holdthis", "episode_index": 65, "frame_index": 50, "instruction": "Hold the object steadily without releasing it.", "gt_event": "operator's hand fills the wrist camera view", "forced_event": "strong motion blur in wrist view", "gt_class": "camera_view", "forced_class": "blur", "class_match": false }, { "index": 1539837, "repo_id": "pietroom/holdthis", "episode_index": 71, "frame_index": 249, "instruction": "Hold the object steadily without releasing it.", "gt_event": "wrist camera almost fully occluded by a hand", "forced_event": "gripper contacts the board edge", "gt_class": "occlusion", "forced_class": "contact_collision", "class_match": false }, { "index": 1539986, "repo_id": "pietroom/holdthis", "episode_index": 71, "frame_index": 398, "instruction": "Hold the object steadily without releasing it.", "gt_event": "wrist camera fully occluded by a hand", "forced_event": "human hand reaches into the frame, likely episode reset", "gt_class": "occlusion", "forced_class": "episode_marker", "class_match": false }, { "index": 1541283, "repo_id": "ppankti81/record-blue", "episode_index": 4, "frame_index": 49, "instruction": "pick and place the blue ring", "gt_event": "arm essentially stationary at start", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1556759, "repo_id": "pranavsaroha/so100_legos4", "episode_index": 31, "frame_index": 1038, "instruction": "Pick up the LEGO block and place it in the bowl of the same color as the LEGO block.", "gt_event": "idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1560487, "repo_id": "pranavsaroha/so100_onelego3", "episode_index": 1, "frame_index": 444, "instruction": "Pick up the green LEGO block and place it in the green bowl.", "gt_event": "motion blur from fast retreat", "forced_event": "fast arm motion causes motion blur in camera A", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1562691, "repo_id": "pranavsaroha/so100_squishy", "episode_index": 24, "frame_index": 257, "instruction": "pick a squishy and put it in the bin", "gt_event": "motion blur in camera A during fast retract", "forced_event": "squishy released into the bin", "gt_class": "blur", "forced_class": "release_place", "class_match": false }, { "index": 1564928, "repo_id": "pranavsaroha/so100_squishy100", "episode_index": 44, "frame_index": 48, "instruction": "pick a squishy and put it in the bin", "gt_event": "arm essentially stationary", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1595093, "repo_id": "rabhishek100/so100_train_dataset", "episode_index": 40, "frame_index": 909, "instruction": "picks tape and places it in a cup.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1597683, "repo_id": "rfruit/so100_building_house_2", "episode_index": 4, "frame_index": 556, "instruction": "Grasp some building blocks and build the house on the picture.", "gt_event": "build site partly occluded by the arm in the top view", "forced_event": "block occluded by the arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1599687, "repo_id": "rfruit/so100_building_house_4", "episode_index": 1, "frame_index": 792, "instruction": "Grasp some building blocks and build the house on the picture.", "gt_event": "idle stretch, frame nearly identical to previous", "forced_event": "block released on top of the stack", "gt_class": "idle", "forced_class": "release_place", "class_match": false }, { "index": 1608634, "repo_id": "ricky0526/so101_pick_toy_to_plate_v4", "episode_index": 47, "frame_index": 52, "instruction": "Pick up the toy and place it on the plate", "gt_event": "arm essentially idle, nearly identical to first frame", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1608846, "repo_id": "ricky0526/so101_pick_toy_to_plate_v4", "episode_index": 53, "frame_index": 53, "instruction": "Pick up the toy and place it on the plate", "gt_event": "arm still idle at start pose", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1609889, "repo_id": "roboflavia/pen_dual0", "episode_index": 2, "frame_index": 49, "instruction": "Grab the pen and put it in the pen holder.", "gt_event": "robot idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1613646, "repo_id": "robotchip/squidgame1", "episode_index": 0, "frame_index": 99, "instruction": "Squid Game: color reactive pick and place", "gt_event": "phone screen turns red (color cue)", "forced_event": "arm idle", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1622007, "repo_id": "roboticshack/team-7-left-arm-grasp-motor", "episode_index": 30, "frame_index": 546, "instruction": "Grasp the black motor and put it in the box.", "gt_event": "idle", "forced_event": "arm idle at rest", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1622505, "repo_id": "roboticshack/team-7-left-arm-grasp-motor", "episode_index": 32, "frame_index": 447, "instruction": "Grasp the black motor and put it in the box.", "gt_event": "motor released on the white tray, not inside the red box", "forced_event": "motor released on the board", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1622904, "repo_id": "roboticshack/team-7-left-arm-grasp-motor", "episode_index": 36, "frame_index": 249, "instruction": "Grasp the black motor and put it in the box.", "gt_event": "gripper closing on the motor, object occluded by the arm", "forced_event": "motor occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1623751, "repo_id": "roboticshack/team-7-left-arm-grasp-motor", "episode_index": 39, "frame_index": 498, "instruction": "Grasp the black motor and put it in the box.", "gt_event": "motor released on the wooden board", "forced_event": "motor released on the board", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1626289, "repo_id": "roboticshack/team-7-left-arm-grasp-motor", "episode_index": 94, "frame_index": 50, "instruction": "Grasp the black motor and put it in the box.", "gt_event": "arm essentially stationary (idle start)", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1628576, "repo_id": "roboticshack/team-7-right-arm-grasp-tape", "episode_index": 15, "frame_index": 546, "instruction": "Grasp the tape and put it in the box.", "gt_event": "arm idle after task completion", "forced_event": "arm idle at rest pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1631860, "repo_id": "roboticshack/team-7-right-arm-grasp-tape", "episode_index": 84, "frame_index": 248, "instruction": "Grasp the tape and put it in the box.", "gt_event": "wrist view almost fully occluded by the tape roll", "forced_event": "wrist camera heavily motion-blurred", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1633344, "repo_id": "roboticshack/team10-red-block", "episode_index": 29, "frame_index": 60, "instruction": "Pick a red lego block and move it to the right.", "gt_event": "arm nearly stationary, little progress in first two seconds", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1633462, "repo_id": "roboticshack/team10-red-block", "episode_index": 29, "frame_index": 178, "instruction": "Pick a red lego block and move it to the right.", "gt_event": "block near the edge of camera B's field of view", "forced_event": "block occluded by the arm in the top view", "gt_class": "camera_view", "forced_class": "occlusion", "class_match": false }, { "index": 1634059, "repo_id": "roboticshack/team10-red-block", "episode_index": 56, "frame_index": 60, "instruction": "Pick a red lego block and move it to the right.", "gt_event": "arm essentially idle, scene unchanged from frame 1", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1634237, "repo_id": "roboticshack/team10-red-block", "episode_index": 56, "frame_index": 238, "instruction": "Pick a red lego block and move it to the right.", "gt_event": "block left at the table edge, partly out of camera B framing", "forced_event": "block released on the table, not inside the ring", "gt_class": "camera_view", "forced_class": "release_place", "class_match": false }, { "index": 1640806, "repo_id": "roboticshack/team13-two-balls-stacking", "episode_index": 24, "frame_index": 51, "instruction": "Stack the balls on top of each other.", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1643153, "repo_id": "roboticshack/team16-can-stacking", "episode_index": 23, "frame_index": 448, "instruction": "Grasp the flipped cup and stack it on top of the midpoint between the two other cups to create a tower", "gt_event": "arm essentially idle after task completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1644401, "repo_id": "roboticshack/team16-water-pouring", "episode_index": 3, "frame_index": 498, "instruction": "Pouring water from one cup to another cup", "gt_event": "arm and source cup partly outside camera A view", "forced_event": "wrist view heavily blurred/overexposed", "gt_class": "camera_view", "forced_class": "blur", "class_match": false }, { "index": 1646098, "repo_id": "roboticshack/team16-water-pouring", "episode_index": 27, "frame_index": 399, "instruction": "Pouring water from one cup to another cup", "gt_event": "cup released upright on the table", "forced_event": "camera B overexposed", "gt_class": "release_place", "forced_class": "camera_view", "class_match": false }, { "index": 1647957, "repo_id": "roboticshack/team2-guess_who_less_ligth", "episode_index": 40, "frame_index": 235, "instruction": "Pick up the card and place it in the slot.", "gt_event": "arm returns to start with no tile manipulated", "forced_event": "little to no motion between the first sampled frames", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1649778, "repo_id": "roboticshack/team2-guess_who_so100", "episode_index": 27, "frame_index": 198, "instruction": "Pick up the card from the shelf.", "gt_event": "one card flap appears raised near the gripper", "forced_event": "strong motion blur, board largely occluded", "gt_class": "other", "forced_class": "blur", "class_match": false }, { "index": 1650331, "repo_id": "roboticshack/team2-guess_who_so100", "episode_index": 47, "frame_index": 219, "instruction": "Pick up the card from the shelf.", "gt_event": "arm returns to home without any tile being manipulated", "forced_event": "arm essentially stationary", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1650768, "repo_id": "roboticshack/team2-guess_who_so100", "episode_index": 85, "frame_index": 195, "instruction": "Pick up the card from the shelf.", "gt_event": "arm returned to rest with no visible change to the board", "forced_event": "gripper now in front of the board, contact not visible", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 1650933, "repo_id": "roboticshack/team2-guess_who_so100", "episode_index": 89, "frame_index": 164, "instruction": "Pick up the card from the shelf.", "gt_event": "board tile configuration differs from the opening frame; outcome of the press not clearly attributable", "forced_event": "arm essentially stationary", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 1651170, "repo_id": "roboticshack/team2-guess_who_so100", "episode_index": 90, "frame_index": 236, "instruction": "Pick up the card from the shelf.", "gt_event": "arm retracted with no clear change to the board", "forced_event": "arm returns to start with no visible change to the board", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1652889, "repo_id": "roboticshack/team2-guess_who_so100_light", "episode_index": 76, "frame_index": 70, "instruction": "Place the card in the slot.", "gt_event": "motion blur during close approach to the board", "forced_event": "arm withdraws from the board, no visible change in the card state", "gt_class": "blur", "forced_class": "other", "class_match": false }, { "index": 1653640, "repo_id": "roboticshack/team9-pick_chicken_place_plate", "episode_index": 35, "frame_index": 53, "instruction": "Pick up the chicken and place on orange plate", "gt_event": "little motion between the first two samples (idle start)", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1653745, "repo_id": "roboticshack/team9-pick_chicken_place_plate", "episode_index": 35, "frame_index": 158, "instruction": "Pick up the chicken and place on orange plate", "gt_event": "gripper and leader arm partly occlude the plate in camera B", "forced_event": "arm occludes the chicken in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1655115, "repo_id": "roboticshack/team9-pick_chicken_place_plate", "episode_index": 56, "frame_index": 209, "instruction": "Pick up the chicken and place on orange plate", "gt_event": "drumstick hidden behind the gripper", "forced_event": "arm occludes the plate in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1656553, "repo_id": "roboticshack/team_5-QuiEstCe_everyBox", "episode_index": 9, "frame_index": 50, "instruction": "play Qui est-ce ?.", "gt_event": "arm still idle", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1657228, "repo_id": "rohanc007/record-remove-debris", "episode_index": 23, "frame_index": 172, "instruction": "Pick the brown debris from the hole.", "gt_event": "debris occluded by gripper/arm while lifted", "forced_event": "debris lifted out of the hole", "gt_class": "occlusion", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1658018, "repo_id": "rohanc007/record-test4", "episode_index": 0, "frame_index": 427, "instruction": "Pick the lid with the red cross and place it on the side.", "gt_event": "little visible change - possible pause/regrasp adjustment", "forced_event": "gripper hovers on lid knob without closing", "gt_class": "grasp_pickup", "forced_class": "miss_fail", "class_match": false }, { "index": 1661324, "repo_id": "ryanpennings/so100_pegcrate_c3", "episode_index": 5, "frame_index": 104, "instruction": "Grasp a peg and put it in the crate.", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1661849, "repo_id": "ryanpennings/so100_pegcrate_c3", "episode_index": 46, "frame_index": 60, "instruction": "Grasp a peg and put it in the crate.", "gt_event": "little to no motion since start (idle stretch)", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1662029, "repo_id": "ryanpennings/so100_pegcrate_c3", "episode_index": 46, "frame_index": 240, "instruction": "Grasp a peg and put it in the crate.", "gt_event": "episode ends with peg in the crate but release not clearly visible", "forced_event": "peg released into the crate", "gt_class": "episode_marker", "forced_class": "release_place", "class_match": false }, { "index": 1662078, "repo_id": "ryanpennings/so100_pegcrate_c3", "episode_index": 47, "frame_index": 48, "instruction": "Grasp a peg and put it in the crate.", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1663465, "repo_id": "s20000s/soarm100_data", "episode_index": 37, "frame_index": 348, "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.", "gt_event": "arm appears nearly static, block held at plate edge", "forced_event": "arm body occludes the plate in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1664460, "repo_id": "s20000s/soarm100_data", "episode_index": 49, "frame_index": 447, "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.", "gt_event": "episode ends with the block at the plate edge, release not clearly shown", "forced_event": "arm appears stationary over the plate", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 1665304, "repo_id": "s20000s/soarm100_data", "episode_index": 53, "frame_index": 396, "instruction": "Pick up the 2x2 yellow block and go up the 8x8 blue block.", "gt_event": "arm idle, no motion since placement", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1669374, "repo_id": "s20000s/soarm100_data2", "episode_index": 44, "frame_index": 446, "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.", "gt_event": "episode ends with arm still parked over the block", "forced_event": "arm idle over placed brick", "gt_class": "episode_marker", "forced_class": "idle", "class_match": false }, { "index": 1669821, "repo_id": "s20000s/soarm100_data2", "episode_index": 48, "frame_index": 446, "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.", "gt_event": "arm idle over the plate", "forced_event": "arm idle over placed brick", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1670665, "repo_id": "s20000s/soarm100_data2", "episode_index": 58, "frame_index": 396, "instruction": "Pick up the 2x4 green block and go up the 8x8 blue block.", "gt_event": "arm idle after placement", "forced_event": "arm idle over the placed brick", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1673244, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 59, "frame_index": 50, "instruction": "gather the left side granules", "gt_event": "little to no motion between the first sampled frames (idle start)", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1674158, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 66, "frame_index": 52, "instruction": "gather the left side granules", "gt_event": "little to no motion between the first sampled frames", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1678798, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 219, "frame_index": 50, "instruction": "gather the right side granules", "gt_event": "arm essentially idle", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1679105, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 223, "frame_index": 55, "instruction": "gather the right side granules", "gt_event": "little to no motion between the first samples", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1679557, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 228, "frame_index": 175, "instruction": "gather the bottom side granules", "gt_event": "stray bottom granule pushed into the cluster", "forced_event": "arm partially occludes the bottom edge of camera B", "gt_class": "contact_collision", "forced_class": "occlusion", "class_match": false }, { "index": 1680013, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 276, "frame_index": 50, "instruction": "push granules from left to the grey container", "gt_event": "little to no motion between the first sampled frames", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1682723, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 343, "frame_index": 56, "instruction": "push granules from bottom to the grey container", "gt_event": "little to no arm motion between the first two samples", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1683381, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 361, "frame_index": 180, "instruction": "push granules from bottom to the grey container", "gt_event": "arm partially occludes the board in camera B", "forced_event": "gripper contacts the granule", "gt_class": "occlusion", "forced_class": "contact_collision", "class_match": false }, { "index": 1683834, "repo_id": "samanthalhy/so100_herding_2", "episode_index": 364, "frame_index": 161, "instruction": "push granules from bottom to the grey container", "gt_event": "arm partially occludes the board in camera B", "forced_event": "arm body occludes the granule in camera B", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1685929, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 88, "frame_index": 49, "instruction": "gather the bottom side granules", "gt_event": "little motion between first sampled frames", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1689023, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 151, "frame_index": 48, "instruction": "gather the right side granules", "gt_event": "arm essentially stationary", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1691259, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 251, "frame_index": 347, "instruction": "push granules from left to the grey container", "gt_event": "camera B largely blocked by the arm", "forced_event": "tool lifted away, no visible change in granule position", "gt_class": "occlusion", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1693269, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 286, "frame_index": 49, "instruction": "push granules from right to the grey container", "gt_event": "arm essentially stationary at start", "forced_event": "arm idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1694188, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 307, "frame_index": 100, "instruction": "push granules from right to the grey container", "gt_event": "tool swung far off the board, granules untouched", "forced_event": "arm partially occludes the right side of the board in camera B", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 1694709, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 324, "frame_index": 58, "instruction": "push granules from bottom to the grey container", "gt_event": "arm essentially idle, no visible change from frame 1", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1695497, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 343, "frame_index": 56, "instruction": "push granules from bottom to the grey container", "gt_event": "little to no motion between the first two samples", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1695891, "repo_id": "samanthalhy/so100_herding_3", "episode_index": 345, "frame_index": 223, "instruction": "push granules from bottom to the grey container", "gt_event": "one granule delivered into the grey container, remainder still on the board", "forced_event": "arm retracts with the granules still in their initial configuration", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1708290, "repo_id": "samsam0510/cube_reorientation_2", "episode_index": 175, "frame_index": 496, "instruction": "Rotate the object so it aligns with the silhouette on the table.", "gt_event": "arm partly occludes the block in the top view", "forced_event": "wrist view heavily motion-blurred", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 1711676, "repo_id": "samsam0510/cube_reorientation_4", "episode_index": 86, "frame_index": 146, "instruction": "Rotate the object so it aligns with respect to the line on the table.", "gt_event": "object contacted/pushed with a fixed (non-actuating) gripper", "forced_event": "wrist view heavily motion-blurred", "gt_class": "contact_collision", "forced_class": "blur", "class_match": false }, { "index": 1712720, "repo_id": "samsam0510/cube_reorientation_4", "episode_index": 88, "frame_index": 99, "instruction": "Rotate the object so it aligns with respect to the line on the table.", "gt_event": "arm partially occludes the block in camera A", "forced_event": "arm and card largely occluded by the wrist camera", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1718433, "repo_id": "samsam0510/tape_insert_1", "episode_index": 33, "frame_index": 98, "instruction": "Grasp a red tape and put it on the box.", "gt_event": "arm body occludes the tape in the overhead view", "forced_event": "red tape hidden behind the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1721376, "repo_id": "samsam0510/tape_insert_2", "episode_index": 19, "frame_index": 176, "instruction": "Grasp a red tape and put it in the yellow tape.", "gt_event": "red tape leaves the camera view and is not placed on the yellow tape", "forced_event": "arm retreats without having grasped or moved the tape", "gt_class": "occlusion", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1721434, "repo_id": "samsam0510/tape_insert_2", "episode_index": 19, "frame_index": 234, "instruction": "Grasp a red tape and put it in the yellow tape.", "gt_event": "episode ends with yellow tape untouched and red tape out of view", "forced_event": "arm returns home with no tape moved", "gt_class": "episode_marker", "forced_class": "other", "class_match": false }, { "index": 1723420, "repo_id": "samsam0510/tape_insert_2", "episode_index": 72, "frame_index": 223, "instruction": "Grasp a red tape and put it in the yellow tape.", "gt_event": "tape released outside the visible workspace; placement on the yellow tape not verifiable", "forced_event": "red tape released onto the yellow tape", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1729691, "repo_id": "samsam0510/tooth_extraction_4", "episode_index": 22, "frame_index": 348, "instruction": "Extarct the molar and put it somewhere.", "gt_event": "tooth appears freed from the socket", "forced_event": "wrist camera very close to the jaw model, view largely occluded", "gt_class": "other", "forced_class": "occlusion", "class_match": false }, { "index": 1731722, "repo_id": "samsam0510/tooth_extraction_4", "episode_index": 90, "frame_index": 158, "instruction": "Extarct the molar and put it somewhere.", "gt_event": "motion blur during rapid pull-out", "forced_event": "tooth carried out of the camera view", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1733419, "repo_id": "samsam0510/tooth_extraction_4", "episode_index": 127, "frame_index": 406, "instruction": "Extarct the molar and put it somewhere.", "gt_event": "tooth carried over the tape roll for release", "forced_event": "tooth released into the tape roll", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1734625, "repo_id": "samsam0510/tooth_extraction_4", "episode_index": 148, "frame_index": 292, "instruction": "Extarct the molar and put it somewhere.", "gt_event": "tooth pulled out, empty socket visible", "forced_event": "tooth pulled out of the socket", "gt_class": "grasp_pickup", "forced_class": "grasp_pickup", "class_match": true }, { "index": 1756182, "repo_id": "sattgle/clean2-test", "episode_index": 25, "frame_index": 660, "instruction": "Put the grey slippers on the bottom shelf and the white ones on the top shelf.", "gt_event": "motion blur during fast transport", "forced_event": "fast motion causes heavy motion blur", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1767734, "repo_id": "sergiov2000/so100_lego_leader_40", "episode_index": 28, "frame_index": 660, "instruction": "Pick the red lego block and put it in the box.", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1770540, "repo_id": "sergiov2000/test_red_50_episodes", "episode_index": 17, "frame_index": 815, "instruction": "Pick the red lego block and put it in the box.", "gt_event": "robot idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1773733, "repo_id": "sergiov2000/test_yellow_50_episodes", "episode_index": 3, "frame_index": 570, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "arm idle after completion", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1774687, "repo_id": "sergiov2000/test_yellow_50_episodes", "episode_index": 21, "frame_index": 668, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1775499, "repo_id": "sergiov2000/test_yellow_50_episodes", "episode_index": 23, "frame_index": 620, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "arm idle at home", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1775690, "repo_id": "sergiov2000/test_yellow_50_episodes", "episode_index": 23, "frame_index": 811, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "arm idle at home", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1776216, "repo_id": "sergiov2000/test_yellow_50_episodes", "episode_index": 26, "frame_index": 477, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "brick released inside the box", "forced_event": "block released into the box", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1779104, "repo_id": "sergiov2000/yellow_20_episodes", "episode_index": 11, "frame_index": 802, "instruction": "Pick the yellow lego block and put it in the box.", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1780801, "repo_id": "shawntan72/pick_and_place_pill_bottle_1", "episode_index": 33, "frame_index": 753, "instruction": "Pick up the pill bottle and place it in the black box.", "gt_event": "robot idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1782591, "repo_id": "shawntan72/pick_and_place_pill_bottle_1", "episode_index": 45, "frame_index": 753, "instruction": "Pick up the pill bottle and place it in the black box.", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1782685, "repo_id": "shawntan72/pick_and_place_pill_bottle_1", "episode_index": 45, "frame_index": 847, "instruction": "Pick up the pill bottle and place it in the black box.", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1783345, "repo_id": "shawntan72/pick_and_place_pill_bottle_1", "episode_index": 46, "frame_index": 612, "instruction": "Pick up the pill bottle and place it in the black box.", "gt_event": "arm idle at rest", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1785854, "repo_id": "shin1107/koch_base_episodes", "episode_index": 25, "frame_index": 104, "instruction": "Base task (160 scenes)", "gt_event": "block partly occluded by the arm in the top view", "forced_event": "block occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1787751, "repo_id": "shin1107/koch_base_episodes", "episode_index": 110, "frame_index": 112, "instruction": "Base task (160 scenes)", "gt_event": "block partly occluded by the arm in the top view", "forced_event": "block occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1791091, "repo_id": "shin1107/koch_new", "episode_index": 57, "frame_index": 150, "instruction": "put the octagonal pillar block into the corresponding hole", "gt_event": "block partly occluded by arm in top view", "forced_event": "block occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1793699, "repo_id": "shin1107/koch_new", "episode_index": 96, "frame_index": 101, "instruction": "put the octagonal pillar block into the corresponding hole", "gt_event": "block momentarily occluded by the arm in the top view", "forced_event": "arm occludes the block in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1795066, "repo_id": "shin1107/koch_new", "episode_index": 137, "frame_index": 106, "instruction": "put the octagonal pillar block into the corresponding hole", "gt_event": "block occluded by arm in top view", "forced_event": "block occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1801735, "repo_id": "shreyasgite/so100_base_env", "episode_index": 4, "frame_index": 48, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm still nearly idle at start", "forced_event": "arm partially occludes the workspace in camera A", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1804097, "repo_id": "shreyasgite/so100_base_env", "episode_index": 86, "frame_index": 272, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released into the bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1804637, "repo_id": "shreyasgite/so100_base_env", "episode_index": 92, "frame_index": 52, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm still idle at start pose", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1805811, "repo_id": "shreyasgite/so100_base_env", "episode_index": 108, "frame_index": 50, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm still idle at start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1823111, "repo_id": "shuohsuan/grasp_data_050_059", "episode_index": 6, "frame_index": 50, "instruction": "grasp the red cube", "gt_event": "little to no motion between the first sampled frames", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1825898, "repo_id": "shuohsuan/grasp_data_090_099", "episode_index": 3, "frame_index": 47, "instruction": "grasp the red cube", "gt_event": "arm idle at start", "forced_event": "arm idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1848595, "repo_id": "shuohsuan/grasp_data_410_419", "episode_index": 8, "frame_index": 505, "instruction": "grasp the red cube", "gt_event": "cube released into the bin", "forced_event": "cube released into the container", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1854057, "repo_id": "shuohsuan/grasp_data_490_499", "episode_index": 2, "frame_index": 653, "instruction": "grasp the red cube", "gt_event": "cube released into the bin", "forced_event": "cube released into the container", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1857640, "repo_id": "shuohsuan/grasp_data_tg_50", "episode_index": 1, "frame_index": 50, "instruction": "Pick up the cube and place it in the box.", "gt_event": "little to no motion between frames 1 and 51", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1861549, "repo_id": "shylee/so100_cup", "episode_index": 70, "frame_index": 100, "instruction": "Grasp a dressing and put it in the cup.", "gt_event": "dressing occluded by the arm as it reaches over it", "forced_event": "dressing occluded by the arm in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1862346, "repo_id": "shylee/so100_cup", "episode_index": 81, "frame_index": 120, "instruction": "Grasp a dressing and put it in the cup.", "gt_event": "bottle occluded by arm after grasp", "forced_event": "arm body occludes the cup in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1862645, "repo_id": "shylee/so100_cup", "episode_index": 90, "frame_index": 179, "instruction": "Grasp a dressing and put it in the cup.", "gt_event": "robot arm largely out of the top camera frame", "forced_event": "dressing occluded by the arm", "gt_class": "camera_view", "forced_class": "occlusion", "class_match": false }, { "index": 1862826, "repo_id": "shylee/so100_cup", "episode_index": 95, "frame_index": 120, "instruction": "Grasp a dressing and put it in the cup.", "gt_event": "object occluded by gripper/arm", "forced_event": "arm body occludes the dressing in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1866705, "repo_id": "sid003/something2", "episode_index": 4, "frame_index": 0, "instruction": "Pick and place the block", "gt_event": "camera points at ceiling; workspace not visible", "forced_event": "no visible task object in scene", "gt_class": "camera_view", "forced_class": "other", "class_match": false }, { "index": 1880171, "repo_id": "sihyun77/sihyun_king", "episode_index": 0, "frame_index": 1112, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1880245, "repo_id": "sihyun77/sihyun_king", "episode_index": 0, "frame_index": 1186, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1885655, "repo_id": "sihyun77/sihyun_main_2", "episode_index": 9, "frame_index": 242, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "fast sweep causes motion blur", "forced_event": "motion blur from fast arm movement", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1886479, "repo_id": "sihyun77/sihyun_main_2", "episode_index": 27, "frame_index": 484, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1888323, "repo_id": "sihyun77/sihyun_main_2", "episode_index": 48, "frame_index": 581, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1892736, "repo_id": "sihyun77/suho_3_17_3", "episode_index": 6, "frame_index": 48, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm stationary, idle start", "forced_event": "arm still idle at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1893260, "repo_id": "sihyun77/suho_3_17_3", "episode_index": 6, "frame_index": 572, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released over the bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1896735, "repo_id": "sihyun77/suho_angel", "episode_index": 22, "frame_index": 49, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm still at start pose (idle)", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1907694, "repo_id": "sihyun77/suho_so100", "episode_index": 47, "frame_index": 336, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block released into the bin", "forced_event": "block released into the bin", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1931834, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 1, "frame_index": 57, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", "gt_event": "gripper approaches the cylinder offset to the side", "forced_event": "cylinder still lies on the mat, gripper never closes", "gt_class": "other", "forced_class": "miss_fail", "class_match": false }, { "index": 1931891, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 1, "frame_index": 114, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", "gt_event": "grasp missed the cylinder, gripper lifts empty", "forced_event": "arm withdraws without the cylinder", "gt_class": "miss_fail", "forced_class": "other", "class_match": false }, { "index": 1932125, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 2, "frame_index": 120, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", "gt_event": "grasp missed; arm retreats empty-handed with cylinder still on the mat", "forced_event": "arm reaches the cylinder but the grasp attempt fails, cylinder remains on the mat", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 1932345, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 9, "frame_index": 99, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", "gt_event": "gripper passes over/left of the cylinder without grasping it", "forced_event": "gripper reaches the cylinder but does not close on it", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 1932729, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 16, "frame_index": 235, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", "gt_event": "arm back at home pose, scene unchanged from start", "forced_event": "arm essentially stationary", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1934145, "repo_id": "sixpigs1/so100_insert_cylinder_error", "episode_index": 86, "frame_index": 114, "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with choice error when inserting.", "gt_event": "cylinder lifted high, partially out of camera B frame", "forced_event": "cylinder lifted high, partly out of camera A's frame", "gt_class": "grasp_pickup", "forced_class": "grasp_pickup", "class_match": true }, { "index": 1935230, "repo_id": "sixpigs1/so100_pick_cube_in_box", "episode_index": 13, "frame_index": 54, "instruction": "Pick up the red cube and put it in the box.", "gt_event": "little to no motion between frames 1 and 55", "forced_event": "arm essentially idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1935932, "repo_id": "sixpigs1/so100_pick_cube_in_box", "episode_index": 40, "frame_index": 58, "instruction": "Pick up the red cube and put it in the box.", "gt_event": "little motion between frames 1 and 59 (slow start)", "forced_event": "arm partially occludes the cube in the top view", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1936107, "repo_id": "sixpigs1/so100_pick_cube_in_box", "episode_index": 40, "frame_index": 233, "instruction": "Pick up the red cube and put it in the box.", "gt_event": "cube released at the box rim, unclear whether it settles fully inside", "forced_event": "arm idle at rest pose", "gt_class": "release_place", "forced_class": "idle", "class_match": false }, { "index": 1938135, "repo_id": "sixpigs1/so100_pick_cube_in_box_error", "episode_index": 25, "frame_index": 278, "instruction": "Pick up the red cube and put it in the box with gripper error when grasping.", "gt_event": "arm retracts with cube still outside the box", "forced_event": "arm returns to rest with the cube still on the mat", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1939842, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 13, "frame_index": 55, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when grasping.", "gt_event": "arm lifts away from the tool without grasping", "forced_event": "arm reaches the tool but does not close the gripper", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 1940008, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 13, "frame_index": 221, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when grasping.", "gt_event": "episode ends with tool and cube untouched", "forced_event": "gripper lowered onto the tool with a lateral offset", "gt_class": "episode_marker", "forced_class": "release_place", "class_match": false }, { "index": 1940805, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 49, "frame_index": 111, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when grasping.", "gt_event": "grasp attempt failed, gripper lifts away empty", "forced_event": "gripper closes on the tool but does not secure it", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 1941342, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 64, "frame_index": 219, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when lowering.", "gt_event": "pull stroke completed but the cube is untouched", "forced_event": "tool lifted and held, partly out of camera A view", "gt_class": "other", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1941796, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 95, "frame_index": 152, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with rotation offset when lowering.", "gt_event": "tool lowered with a rotation offset, misaligned with the cube", "forced_event": "tool lowered with a rotation offset, purple cube not directly in the gripper", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1942658, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 135, "frame_index": 153, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when pulling.", "gt_event": "tool released early by the gripper (intended error)", "forced_event": "tool released mid-pull, purple cube not pulled", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1943131, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 148, "frame_index": 218, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool without errors.", "gt_event": "cube ends up alongside rather than snug inside the tool hook", "forced_event": "tool and cube are pulled back, cube never grasped", "gt_class": "other", "forced_class": "grasp_pickup", "class_match": false }, { "index": 1943185, "repo_id": "sixpigs1/so100_pull_cube_by_tool_error", "episode_index": 148, "frame_index": 272, "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool without errors.", "gt_event": "tool released, arm retreats to home pose", "forced_event": "tool released back on the mat, cube still in its original position", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1944036, "repo_id": "sixpigs1/so100_pull_cube_error", "episode_index": 14, "frame_index": 198, "instruction": "Pull the yellow cube to the red and white target with position offset when reaching.", "gt_event": "cube left untouched at its start position", "forced_event": "arm reaches the cube with a lateral offset, no contact", "gt_class": "other", "forced_class": "contact_collision", "class_match": false }, { "index": 1944348, "repo_id": "sixpigs1/so100_pull_cube_error", "episode_index": 26, "frame_index": 99, "instruction": "Pull the yellow cube to the red and white target with position offset when pulling.", "gt_event": "gripper contacts the cube off-center", "forced_event": "gripper contacts cube but does not grip it", "gt_class": "contact_collision", "forced_class": "miss_fail", "class_match": false }, { "index": 1945484, "repo_id": "sixpigs1/so100_push_cube_error", "episode_index": 27, "frame_index": 186, "instruction": "Push the blue cube to the red and white target with position offset when pushing.", "gt_event": "arm retreats with the cube still off the target", "forced_event": "arm retracts with cube still off-target", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1947763, "repo_id": "sixpigs1/so100_stack_cube_error", "episode_index": 45, "frame_index": 106, "instruction": "Pick up the red cube and stack it on the green cube with position offset when stacking.", "gt_event": "red cube largely occluded by the arm in the top view", "forced_event": "red cube occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1948847, "repo_id": "sixpigs1/so100_stack_cube_error", "episode_index": 76, "frame_index": 122, "instruction": "Pick up the red cube and stack it on the green cube without errors", "gt_event": "red cube largely occluded by the arm in the top view", "forced_event": "red cube occluded by the arm in the top view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1949020, "repo_id": "siyavash/so101_test", "episode_index": 4, "frame_index": 50, "instruction": "Grasp a servo box and put it on the zirlivani.", "gt_event": "motion blur in wrist view", "forced_event": "motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1949963, "repo_id": "siyavash/so101_test", "episode_index": 26, "frame_index": 99, "instruction": "Grasp a servo box and put it on the zirlivani.", "gt_event": "motion blur in both views", "forced_event": "strong motion blur in wrist view", "gt_class": "blur", "forced_class": "blur", "class_match": true }, { "index": 1956421, "repo_id": "slowturtle99/so100_pick_place", "episode_index": 112, "frame_index": 175, "instruction": "Pick a white block and place it in the black box.", "gt_event": "motion blur from fast arm movement", "forced_event": "block occluded by the arm while being carried", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1961267, "repo_id": "slowturtle99/so100_test", "episode_index": 32, "frame_index": 54, "instruction": "Grasp a block and put it in the bin.", "gt_event": "block appears on the table (scene setup between samples)", "forced_event": "block now lies on the table (placed off-camera)", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 1961539, "repo_id": "slowturtle99/so100_test", "episode_index": 43, "frame_index": 0, "instruction": "Grasp a block and put it in the bin.", "gt_event": "task block not yet present in the scene", "forced_event": "block released into the cup", "gt_class": "other", "forced_class": "release_place", "class_match": false }, { "index": 1961798, "repo_id": "slowturtle99/so100_test", "episode_index": 43, "frame_index": 259, "instruction": "Grasp a block and put it in the bin.", "gt_event": "gripper empty, block no longer on table (release into cup not directly visible)", "forced_event": "block released into the cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 1962584, "repo_id": "slowturtle99/so100_test", "episode_index": 54, "frame_index": 94, "instruction": "Grasp a block and put it in the bin.", "gt_event": "block appears on the table (placed off-camera)", "forced_event": "arm essentially stationary", "gt_class": "release_place", "forced_class": "idle", "class_match": false }, { "index": 1965648, "repo_id": "speedyyoshi/so100_grasp_pink_block", "episode_index": 22, "frame_index": 868, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1966224, "repo_id": "speedyyoshi/so100_grasp_pink_block", "episode_index": 26, "frame_index": 575, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1967826, "repo_id": "sshh11/so100_orange_50ep_1", "episode_index": 26, "frame_index": 148, "instruction": "Grasp an orange object and put it in the bin.", "gt_event": "motion blur from fast transport", "forced_event": "arm and object partly out of frame", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1970116, "repo_id": "sshh11/so100_orange_50ep_2", "episode_index": 41, "frame_index": 50, "instruction": "Grasp an orange object and put it in the bin.", "gt_event": "arm still idle at start", "forced_event": "arm partially occludes the orange object", "gt_class": "idle", "forced_class": "occlusion", "class_match": false }, { "index": 1971464, "repo_id": "stsqitx/clean2", "episode_index": 7, "frame_index": 199, "instruction": "Grab the sponge and clean dirty", "gt_event": "sponge briefly hidden behind the arm in camera A", "forced_event": "sponge occludes the spill in camera A", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1972737, "repo_id": "swarajgosavi/act_kikobot_pusht_real", "episode_index": 24, "frame_index": 152, "instruction": "picks up the red block.", "gt_event": "arm body largely occludes the block in camera A", "forced_event": "arm body occludes the block in camera B", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1975780, "repo_id": "taiobot/so101_test8", "episode_index": 27, "frame_index": 99, "instruction": "Grasp a nut and put it in the bin.", "gt_event": "wrist view heavily motion-blurred", "forced_event": "arm partially occludes the workspace in camera A", "gt_class": "blur", "forced_class": "occlusion", "class_match": false }, { "index": 1982728, "repo_id": "tenkau/so101_block_stack_kanzenrikai", "episode_index": 5, "frame_index": 801, "instruction": "Stack the 3 blocks", "gt_event": "arm idle after completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 1986690, "repo_id": "thedevansh/mar16_1336", "episode_index": 31, "frame_index": 102, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "block occluded by the gripper body", "forced_event": "block occluded by the arm", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1993038, "repo_id": "tim19970907/so100_test_0616_2", "episode_index": 14, "frame_index": 500, "instruction": "turn the button of vending machine.", "gt_event": "capsule ball dispensed into tray", "forced_event": "capsule dispensed into tray", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 1994202, "repo_id": "tkc79/so100_lego_box_1", "episode_index": 34, "frame_index": 149, "instruction": "Grasp a lego block and put it in the box.", "gt_event": "wrist view almost entirely occluded by the block/box interior", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "occlusion", "forced_class": "occlusion", "class_match": true }, { "index": 1995849, "repo_id": "tkc79/so100_lego_box_1", "episode_index": 63, "frame_index": 0, "instruction": "Grasp a lego block and put it in the box.", "gt_event": "episode starts with block apparently already grasped", "forced_event": "block occluded by the arm in the overhead view", "gt_class": "episode_marker", "forced_class": "occlusion", "class_match": false }, { "index": 2017301, "repo_id": "vladfatu/so100_office", "episode_index": 5, "frame_index": 448, "instruction": "Pick up the red object and place it in the box.", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2018596, "repo_id": "vladfatu/so100_office", "episode_index": 22, "frame_index": 547, "instruction": "Pick up the red object and place it in the box.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2019095, "repo_id": "vladfatu/so100_office", "episode_index": 23, "frame_index": 448, "instruction": "Pick up the red object and place it in the box.", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2026588, "repo_id": "weiye11/so100_423_pick", "episode_index": 14, "frame_index": 208, "instruction": "Grasp the colored block, Place it on the black dot, and then return the arm to the default position.", "gt_event": "block occluded by the arm in the overhead view", "forced_event": "motion blur in wrist view", "gt_class": "occlusion", "forced_class": "blur", "class_match": false }, { "index": 2029372, "repo_id": "willnorris/bbox-2", "episode_index": 0, "frame_index": 49, "instruction": "pick the item and place it in the box", "gt_event": "no motion between frames 1 and 50 (idle start)", "forced_event": "arm essentially stationary at start", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2030105, "repo_id": "willnorris/bbox-2", "episode_index": 5, "frame_index": 51, "instruction": "pick the item and place it in the box", "gt_event": "arm essentially stationary at start", "forced_event": "arm retracts to home with no object visible on the table", "gt_class": "idle", "forced_class": "other", "class_match": false }, { "index": 2036899, "repo_id": "woveinfluency/record-eyedrops-50-ep", "episode_index": 17, "frame_index": 53, "instruction": "Grab the eyedrops", "gt_event": "little to no motion between the first sampled frames (idle start)", "forced_event": "no motion (idle)", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2037162, "repo_id": "woveinfluency/record-eyedrops-50-ep", "episode_index": 18, "frame_index": 49, "instruction": "Grab the eyedrops", "gt_event": "no visible motion since start (idle)", "forced_event": "little to no motion between the first sampled frames", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2040468, "repo_id": "xhaka3456/Pick_Place", "episode_index": 59, "frame_index": 297, "instruction": "Pick and Place.", "gt_event": "cup righted with sponge inside", "forced_event": "arm idle", "gt_class": "other", "forced_class": "idle", "class_match": false }, { "index": 2042693, "repo_id": "xhaka3456/Pick_Place", "episode_index": 98, "frame_index": 289, "instruction": "Pick and Place.", "gt_event": "sponge released into the cup", "forced_event": "sponge released into the white cup", "gt_class": "release_place", "forced_class": "release_place", "class_match": true }, { "index": 2044151, "repo_id": "xhaka3456/Pick_Place", "episode_index": 119, "frame_index": 432, "instruction": "Pick and Place.", "gt_event": "cup left lying on its side", "forced_event": "arm withdraws with the block still on the table", "gt_class": "other", "forced_class": "other", "class_match": true }, { "index": 2048437, "repo_id": "yangfengzzz/pick_usb_to_bin", "episode_index": 5, "frame_index": 623, "instruction": "Grab the usb to bin", "gt_event": "robot idle after task completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2048628, "repo_id": "yangfengzzz/pick_usb_to_bin", "episode_index": 5, "frame_index": 814, "instruction": "Grab the usb to bin", "gt_event": "robot idle after task completion", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2049148, "repo_id": "yangfengzzz/pick_usb_to_bin", "episode_index": 27, "frame_index": 471, "instruction": "Grab the usb to bin", "gt_event": "arm idle", "forced_event": "arm idle", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2050044, "repo_id": "yangfengzzz/pick_usb_to_bin", "episode_index": 38, "frame_index": 471, "instruction": "Grab the usb to bin", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2050232, "repo_id": "yangfengzzz/pick_usb_to_bin", "episode_index": 38, "frame_index": 659, "instruction": "Grab the usb to bin", "gt_event": "arm idle", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2069285, "repo_id": "yuk6ra/so101-tapes-cleanup", "episode_index": 12, "frame_index": 395, "instruction": "Grab tapes and place into box", "gt_event": "arm idle at home pose", "forced_event": "arm idle at home pose", "gt_class": "idle", "forced_class": "idle", "class_match": true }, { "index": 2074846, "repo_id": "yuz1wan/so100_pour_cup", "episode_index": 6, "frame_index": 149, "instruction": "Pick the paper cup and pour sth out.", "gt_event": "end-effector contacts the green block without grasping", "forced_event": "gripper hovering over the block, no grasp", "gt_class": "miss_fail", "forced_class": "miss_fail", "class_match": true }, { "index": 2081698, "repo_id": "zaringleb/so100_cude_linear_and_2d_comb", "episode_index": 74, "frame_index": 0, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "blurred human arm/body at right edge of frame", "forced_event": "arm essentially stationary at start", "gt_class": "human", "forced_class": "idle", "class_match": false }, { "index": 2081859, "repo_id": "zaringleb/so100_cude_linear_and_2d_comb", "episode_index": 74, "frame_index": 161, "instruction": "Grasp a lego block and put it in the bin.", "gt_event": "motion blur on the moving arm", "forced_event": "cube occluded by the arm", "gt_class": "blur", "forced_class": "occlusion", "class_match": false } ] }