From 2b27084d63a5179493b7fed56de05aa11f2c083c Mon Sep 17 00:00:00 2001 From: danaaubakirova Date: Tue, 1 Jul 2025 14:35:02 +0200 Subject: [PATCH] Refactor embed prefix in modeling_smolvla2.py Add old collator functions and constants for dataset handling --- lerobot/common/constants.py | 2 + lerobot/common/datasets/collators.py | 66 + lerobot/common/datasets/lerobot_dataset.py | 14 +- lerobot/common/datasets/utils.py | 16 + lerobot/common/policies/__init__.py | 1 + lerobot/common/policies/factory.py | 7 + .../smolvla2/configuration_smolvla2.py | 6 +- .../policies/smolvla2/modeling_smolvla2.py | 236 +- lerobot/configs/datasets.py | 3035 +++++++++++++++++ 9 files changed, 3268 insertions(+), 115 deletions(-) create mode 100644 lerobot/common/datasets/collators.py create mode 100644 lerobot/configs/datasets.py diff --git a/lerobot/common/constants.py b/lerobot/common/constants.py index 4e9bd7f51..83d736392 100644 --- a/lerobot/common/constants.py +++ b/lerobot/common/constants.py @@ -28,6 +28,8 @@ OBS_IMAGE_4 = "observation.image4" REWARD = "next.reward" ROBOTS = "robots" +TASK = "task" +ROBOT = "robot_type" TELEOPERATORS = "teleoperators" # files & directories diff --git a/lerobot/common/datasets/collators.py b/lerobot/common/datasets/collators.py new file mode 100644 index 000000000..330c978e5 --- /dev/null +++ b/lerobot/common/datasets/collators.py @@ -0,0 +1,66 @@ +from typing import Dict, List + +import torch +from torch.utils.data.dataloader import default_collate +import numpy as np + +def is_batch_need_padding(values: list[torch.Tensor], pad_dim: int = -1) -> int: + return len(values[0].shape) > 0 # and len(set([v.shape[pad_dim] for v in values])) > 1 + + +def pad_tensor( + tensor: torch.Tensor, max_size: int, pad_dim: int = -1, pad_value: float = 0.0 +) -> torch.Tensor: + is_numpy = isinstance(tensor, np.ndarray) + if is_numpy: + tensor = torch.tensor(tensor) + pad = max_size - tensor.shape[pad_dim] + if pad > 0: + pad_sizes = (0, pad) # pad right + tensor = torch.nn.functional.pad(tensor, pad_sizes, value=pad_value) + return tensor.numpy() if is_numpy else tensor + + +def pad_list_of_tensors( + tensors: List[torch.Tensor], pad_dim: int = -1, pad_value: float = 0.0 +) -> List[torch.Tensor]: + max_size = max([v.shape[pad_dim] for v in tensors]) + return [pad_tensor(tensor, max_size, pad_dim=pad_dim, pad_value=pad_value) for tensor in tensors] + + +def multidataset_collate_fn( + batch: List[Dict[str, torch.Tensor]], + pad_dim: int = -1, + pad_value: float = 0.0, + keys_to_max_dim: dict = {}, +) -> Dict[str, torch.Tensor]: + """ + Custom collate function to pad tensors with multiple dimensions. + + Args: + batch (List[Dict[str, torch.Tensor]]): List of dataset samples (each sample is a dictionary). + + Returns: + Dict[str, torch.Tensor]: Batch with padded tensors. + """ + batch_keys = batch[0].keys() + collated_batch = [{} for _ in range(len(batch))] + # FIXME(mshukor): pad to max shape per feature type + for key in batch_keys: + values = [sample[key] for sample in batch] + if ( + key in keys_to_max_dim + and isinstance(values[0], torch.Tensor) + and is_batch_need_padding(values, pad_dim=pad_dim) and keys_to_max_dim[key] is not None + ): + max_size = keys_to_max_dim[key] + for i in range(len(batch)): + collated_batch[i][key] = pad_tensor( + batch[i][key], max_size, pad_dim=pad_dim, pad_value=pad_value + ) + else: + for i in range(len(batch)): + collated_batch[i][key] = batch[i][key] + collated_batch = default_collate(collated_batch) + + return collated_batch diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 45ca85b9a..a8b98b127 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -16,6 +16,7 @@ import contextlib import logging import shutil +import os from pathlib import Path from typing import Callable @@ -31,7 +32,7 @@ from huggingface_hub.constants import REPOCARD_NAME from huggingface_hub.errors import RevisionNotFoundError from lerobot.common.constants import HF_LEROBOT_HOME -from lerobot.common.datasets.compute_stats import aggregate_stats, aggregate_stats_per_robot_type, compute_episode_stats +from lerobot.common.datasets.compute_stats import aggregate_stats, compute_episode_stats #aggregate_stats_per_robot_type, from lerobot.common.datasets.image_writer import AsyncImageWriter, write_image from lerobot.common.datasets.utils import ( DEFAULT_FEATURES, @@ -66,10 +67,10 @@ from lerobot.common.datasets.utils import ( write_episode_stats, write_info, write_json, - keep_datasets_with_the_same_features_per_robot_type, - map_dict_pad_keys, - keep_datasets_with_valid_fps, - find_start_of_motion, + #keep_datasets_with_the_same_features_per_robot_type, + #map_dict_pad_keys, + #keep_datasets_with_valid_fps, + #find_start_of_motion, ) from lerobot.common.datasets.video_utils import ( VideoFrame, @@ -79,8 +80,9 @@ from lerobot.common.datasets.video_utils import ( get_video_info, ) -from lerobot.common.robot_devices.robots.utils import Robot +#from lerobot.common.robot_devices.robots.utils import Robot from lerobot.configs.datasets import ROBOT_TYPE_KEYS_MAPPING, TASKS_KEYS_MAPPING +#FIXME: remove this import from lerobot.common.datasets.collators import pad_tensor CODEBASE_VERSION = "v2.1" diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py index 542daf2aa..927a784b0 100644 --- a/lerobot/common/datasets/utils.py +++ b/lerobot/common/datasets/utils.py @@ -858,3 +858,19 @@ def validate_episode_buffer(episode_buffer: dict, total_episodes: int, features: f"In episode_buffer not in features: {buffer_keys - set(features)}" f"In features not in episode_buffer: {set(features) - buffer_keys}" ) + + +def map_dict_keys(item: dict, feature_keys_mapping: dict, training_features: list = None, pad_key: str = "is_pad") -> dict: + """Maps feature keys from the dataset to the keys used in the model.""" + if feature_keys_mapping is None: + return item + features = {} + for key in item: + if key in feature_keys_mapping: + if feature_keys_mapping[key] is not None: + if training_features is None or feature_keys_mapping[key] in training_features: + features[feature_keys_mapping[key]] = item[key] + else: + if training_features is None or key in training_features or pad_key in key: + features[key] = item[key] + return features diff --git a/lerobot/common/policies/__init__.py b/lerobot/common/policies/__init__.py index 9cb0f6234..172a5720e 100644 --- a/lerobot/common/policies/__init__.py +++ b/lerobot/common/policies/__init__.py @@ -16,5 +16,6 @@ from .act.configuration_act import ACTConfig as ACTConfig from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig from .pi0.configuration_pi0 import PI0Config as PI0Config from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig +from .smolvla2.configuration_smolvla2 import SmolVLA2Config as SmolVLA2Config from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py index 682bb8cee..68bc73ca4 100644 --- a/lerobot/common/policies/factory.py +++ b/lerobot/common/policies/factory.py @@ -30,6 +30,7 @@ from lerobot.common.policies.pretrained import PreTrainedPolicy from lerobot.common.policies.sac.configuration_sac import SACConfig from lerobot.common.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig from lerobot.common.policies.smolvla.configuration_smolvla import SmolVLAConfig +from lerobot.common.policies.smolvla2.configuration_smolvla2 import SmolVLA2Config from lerobot.common.policies.tdmpc.configuration_tdmpc import TDMPCConfig from lerobot.common.policies.vqbet.configuration_vqbet import VQBeTConfig from lerobot.configs.policies import PreTrainedConfig @@ -74,6 +75,10 @@ def get_policy_class(name: str) -> PreTrainedPolicy: from lerobot.common.policies.smolvla.modeling_smolvla import SmolVLAPolicy return SmolVLAPolicy + elif name == "smolvla2": + from lerobot.common.policies.smolvla2.modeling_smolvla2 import SmolVLA2Policy + + return SmolVLA2Policy else: raise NotImplementedError(f"Policy with name {name} is not implemented.") @@ -95,6 +100,8 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig: return SACConfig(**kwargs) elif policy_type == "smolvla": return SmolVLAConfig(**kwargs) + elif policy_type == "smolvla2": + return SmolVLA2Config(**kwargs) elif policy_type == "reward_classifier": return RewardClassifierConfig(**kwargs) else: diff --git a/lerobot/common/policies/smolvla2/configuration_smolvla2.py b/lerobot/common/policies/smolvla2/configuration_smolvla2.py index 96f5f4a73..dd5885841 100644 --- a/lerobot/common/policies/smolvla2/configuration_smolvla2.py +++ b/lerobot/common/policies/smolvla2/configuration_smolvla2.py @@ -28,9 +28,9 @@ class PEFTConfig: lora_dropout: float = 0.1 target_modules: str = "q_proj,v_proj" -@PreTrainedConfig.register_subclass("smolvla") +@PreTrainedConfig.register_subclass("smolvla2") @dataclass -class SmolVLAConfig(PreTrainedConfig): +class SmolVLA2Config(PreTrainedConfig): # Input / output structure. n_obs_steps: int = 1 chunk_size: int = 50 @@ -93,7 +93,7 @@ class SmolVLAConfig(PreTrainedConfig): load_vlm_weights: bool = False # Set to True in case of training the expert from scratch. True when init from pretrained SmolVLA weights checkpoint_path: str = None peft_method: str = "" - peft_config: PEFTConfig = PEFTConfig() + peft_config: PEFTConfig = field(default_factory=PEFTConfig) peft_target_model: str = "" add_image_special_tokens: bool = False # Whether to use special image tokens around image features. diff --git a/lerobot/common/policies/smolvla2/modeling_smolvla2.py b/lerobot/common/policies/smolvla2/modeling_smolvla2.py index 71d0d956f..4d2b89307 100644 --- a/lerobot/common/policies/smolvla2/modeling_smolvla2.py +++ b/lerobot/common/policies/smolvla2/modeling_smolvla2.py @@ -55,6 +55,7 @@ policy = SmolVLAPolicy.from_pretrained("lerobot/smolvla_base") import math import os import re +import random from collections import deque import safetensors @@ -69,12 +70,13 @@ from lerobot.common.policies.normalize import ( Unnormalize, ) from lerobot.common.policies.pretrained import PreTrainedPolicy -from lerobot.common.policies.smolvla.configuration_smolvla import SmolVLAConfig +from lerobot.common.policies.smolvla2.configuration_smolvla2 import SmolVLA2Config from lerobot.common.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel from lerobot.common.policies.utils import ( populate_queues, ) from lerobot.common.utils.utils import get_safe_dtype +from lerobot.datasets import IMAGES_ORDER # Matches ".soNNN", optionally followed by "-something", up to the "_buffer_" marker _VARIANT_RE = re.compile(r"\.so\d+(?:-[\w]+)?_buffer_") @@ -323,15 +325,15 @@ def aloha_gripper_from_angular_inv(value): return normalize(value, min_val=0.4, max_val=1.5) -class SmolVLAPolicy(PreTrainedPolicy): +class SmolVLA2Policy(PreTrainedPolicy): """Wrapper class around VLAFlowMatching model to train and run inference within LeRobot.""" - config_class = SmolVLAConfig - name = "smolvla" + config_class = SmolVLA2Config + name = "smolvla2" def __init__( self, - config: SmolVLAConfig, + config: SmolVLA2Config, dataset_stats: dict[str, dict[str, Tensor]] | None = None, ): """ @@ -372,7 +374,7 @@ class SmolVLAPolicy(PreTrainedPolicy): @classmethod def _load_as_safetensor( cls, - model: "SmolVLAPolicy", + model: "SmolVLA2Policy", model_file: str, map_location: str, strict: bool, @@ -403,7 +405,7 @@ class SmolVLAPolicy(PreTrainedPolicy): self.eval() if self.config.adapt_to_pi_aloha: - batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT]) + batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE]) batch = self.normalize_inputs(batch) @@ -620,7 +622,7 @@ class SmolVLAPolicy(PreTrainedPolicy): if self.config.relative_actions_mode == "first": actions = torch.cat((actions[:, :1], actions[:, 1:] - actions[:, :1]), dim=1) elif self.config.relative_actions_mode == "state": - assert batch[ACTION].shape[-1] == batch[OBS_ROBOT].shape[-1], "Relative action mode 'state' requires the action and state to have the same dimension." + assert batch[ACTION].shape[-1] == batch[OBS_STATE].shape[-1], "Relative action mode 'state' requires the action and state to have the same dimension." if state.ndim == 2: state = state.unsqueeze(1) actions = actions - state @@ -713,33 +715,19 @@ class VLAFlowMatching(nn.Module): self.set_requires_grad() # SmolVLM2 has: [fake_tok + crop_tok + crop + fake_tok + crop_tok ... + fake_tok + global_tok + global + fake_tok] + [second image] + ... - if any([k in self.config.vlm_model_name for k in ["SmolVLM-", "SmolVLA-"]]): - if "SmolVLM-Instruct" in self.config.vlm_model_name: - self.fake_image_token = 49152 - self.global_image_token = [44, 13906, 29, 6266, 46] - self.global_image_start_token = torch.tensor([self.fake_image_token] + self.global_image_token, dtype=torch.long) - else: - self.fake_image_token = 49189 - self.global_image_token = 49152 - self.global_image_start_token = torch.tensor([self.fake_image_token, self.global_image_token], dtype=torch.long) - else: - self.fake_image_token = self.vlm_with_expert.processor.tokenizer.fake_image_token_id - self.global_image_token = self.vlm_with_expert.processor.tokenizer.global_image_token_id - self.global_image_start_token = torch.tensor( - [self.fake_image_token, self.global_image_token], dtype=torch.long - ) + self.fake_image_token = self.vlm_with_expert.processor.tokenizer.fake_image_token_id + self.global_image_token = self.vlm_with_expert.processor.tokenizer.global_image_token_id + self.global_image_start_token = torch.tensor( + [self.fake_image_token, self.global_image_token], dtype=torch.long + ) self.add_image_special_tokens = self.config.add_image_special_tokens - self.add_local_special_image_tokens = self.config.add_local_special_image_tokens - self.local_image_tokens = [torch.tensor([self.fake_image_token, tok], dtype=torch.long) for tok in [49153, 49154, 49155, 49159, 49160, 49161, 49165, 49166, 49167]] # assume 3 x 3 grid - - self.local_image_start_token = self.global_image_start_token self.image_end_token = torch.tensor([self.fake_image_token], dtype=torch.long) self.prefix_length = self.config.prefix_length self.include_past_images = self.config.n_obs_steps > 1 and "image" in self.config.past_obs_keys.split(",") self.num_past_images = self.config.n_obs_steps if self.include_past_images else 1 self.causal_attention_on_history = self.config.causal_attention_on_history - + def set_requires_grad(self): for params in self.state_proj.parameters(): @@ -761,99 +749,135 @@ class VLAFlowMatching(nn.Module): return time.to(dtype=torch.float32, device=device) def embed_prefix( - self, images, img_masks, lang_tokens, lang_masks, state: torch.Tensor = None + self, images, img_masks, lang_tokens, lang_masks, state: torch.Tensor = None, + pointtrackers=None, pt_masks=None, **kwargs ) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: - """Embed images with SigLIP and language tokens with embedding layer to prepare - for SmolVLM transformer processing. + """Embed multiple modalities for vlm processing. + + Simple, extensible approach using list + torch.cat. + Easy to add new information/modalities like point trackers, audio, etc. + + Args: + images: List of image tensors + img_masks: List of image masks + lang_tokens: Language token tensor + lang_masks: Language mask tensor + state: Optional state tensor + pointtrackers: Optional point tracker tensors (future extension) + pt_masks: Optional point tracker masks (future extension) + **kwargs: Additional modalities for future extensions """ embs = [] pad_masks = [] att_masks = [] - for _img_idx, ( - img, - img_mask, - ) in enumerate(zip(images, img_masks, strict=False)): - if self.add_image_special_tokens: - image_start_token = ( - self.vlm_with_expert.embed_language_tokens( - self.global_image_start_token.to(device=self.vlm_with_expert.vlm.device) - ) - .unsqueeze(0) - .expand(img.shape[0], -1, -1) - ) - image_start_mask = torch.ones_like( - image_start_token[:, :, 0], dtype=torch.bool, device=image_start_token.device - ) - att_masks += [0] * (image_start_mask.shape[-1]) - embs.append(image_start_token) - pad_masks.append(image_start_mask) - - img_emb = self.vlm_with_expert.embed_image(img) - img_emb = img_emb - - # Normalize image embeddings - img_emb_dim = img_emb.shape[-1] - img_emb = img_emb * torch.tensor(img_emb_dim**0.5, dtype=img_emb.dtype, device=img_emb.device) - - bsize, num_img_embs = img_emb.shape[:2] - img_mask = img_mask[:, None].expand(bsize, num_img_embs) - - embs.append(img_emb) - pad_masks.append(img_mask) - - att_masks += [0] * (num_img_embs) - if self.add_image_special_tokens: - image_end_token = ( - self.vlm_with_expert.embed_language_tokens( - self.image_end_token.to(device=self.vlm_with_expert.vlm.device) - ) - .unsqueeze(0) - .expand(img.shape[0], -1, -1) - ) - image_end_mask = torch.ones_like( - image_end_token[:, :, 0], dtype=torch.bool, device=image_end_token.device - ) - embs.append(image_end_token) - pad_masks.append(image_end_mask) - att_masks += [0] * (image_end_mask.shape[1]) - lang_emb = self.vlm_with_expert.embed_language_tokens(lang_tokens) - # Normalize language embeddings - lang_emb_dim = lang_emb.shape[-1] - lang_emb = lang_emb * math.sqrt(lang_emb_dim) - - embs.append(lang_emb) - pad_masks.append(lang_masks) - - num_lang_embs = lang_emb.shape[1] - att_masks += [0] * num_lang_embs + + # Process each modality type + self._add_image_embeddings(images, img_masks, embs, pad_masks, att_masks) + self._add_language_embeddings(lang_tokens, lang_masks, embs, pad_masks, att_masks) + if state is not None and self.state_to_prefix: - state_emb = self.state_proj(state) - state_emb = state_emb[:, None, :] if state_emb.ndim == 2 else state_emb - embs.append(state_emb) - - bsize = state_emb.shape[0] - device = state_emb.device - - states_seq_len = state_emb.shape[1] - state_mask = torch.ones(bsize, states_seq_len, dtype=torch.bool, device=device) - pad_masks.append(state_mask) - - # Set attention masks so that image and language inputs do not attend to state or actions - att_masks += [1] * (states_seq_len) + self._add_state_embeddings(state, embs, pad_masks, att_masks) + + # Future extensions - easy to add new modalities + if pointtrackers is not None: + self._add_pointtracker_embeddings(pointtrackers, pt_masks, embs, pad_masks, att_masks) + + # Add more modalities here as needed: + # if audio is not None: + # self._add_audio_embeddings(audio, audio_masks, embs, pad_masks, att_masks) + + # Concatenate all embeddings embs = torch.cat(embs, dim=1) pad_masks = torch.cat(pad_masks, dim=1) att_masks = torch.tensor(att_masks, dtype=torch.bool, device=pad_masks.device) - att_masks = att_masks[None, :] - + + # Handle prefix length padding seq_len = pad_masks.shape[1] if seq_len < self.prefix_length: embs = pad_tensor(embs, self.prefix_length, pad_value=0) pad_masks = pad_tensor(pad_masks, self.prefix_length, pad_value=0) att_masks = pad_tensor(att_masks, self.prefix_length, pad_value=0) - - att_masks = att_masks.expand(bsize, -1) - + + # Expand attention masks to batch size + bsize = pad_masks.shape[0] + att_masks = att_masks[None, :].expand(bsize, -1) + return embs, pad_masks, att_masks + + def _add_image_embeddings(self, images, img_masks, embs, pad_masks, att_masks): + """Add image embeddings with special tokens to the lists.""" + for img, img_mask in zip(images, img_masks): + # Add image start tokens if enabled + if self.add_image_special_tokens: + start_emb = self.vlm_with_expert.embed_language_tokens( + self.global_image_start_token.to(device=img.device) + ).unsqueeze(0).expand(img.shape[0], -1, -1) + + start_mask = torch.ones_like(start_emb[:, :, 0], dtype=torch.bool) + embs.append(start_emb) + pad_masks.append(start_mask) + att_masks += [0] * start_emb.shape[1] + + # Process image embedding + img_emb = self.vlm_with_expert.embed_image(img) + + # Normalize image embeddings + img_emb_dim = img_emb.shape[-1] + img_emb = img_emb * torch.tensor(img_emb_dim**0.5, dtype=img_emb.dtype, device=img_emb.device) + + # Expand mask to match image embedding sequence length + bsize, num_img_embs = img_emb.shape[:2] + expanded_mask = img_mask[:, None].expand(bsize, num_img_embs) + + embs.append(img_emb) + pad_masks.append(expanded_mask) + att_masks += [0] * num_img_embs + + # Add image end tokens if enabled + if self.add_image_special_tokens: + end_emb = self.vlm_with_expert.embed_language_tokens( + self.image_end_token.to(device=img.device) + ).unsqueeze(0).expand(img.shape[0], -1, -1) + + end_mask = torch.ones_like(end_emb[:, :, 0], dtype=torch.bool) + embs.append(end_emb) + pad_masks.append(end_mask) + att_masks += [0] * end_emb.shape[1] + + def _add_language_embeddings(self, lang_tokens, lang_masks, embs, pad_masks, att_masks): + """Add language embeddings to the lists.""" + lang_emb = self.vlm_with_expert.embed_language_tokens(lang_tokens) + + # Normalize language embeddings + lang_emb_dim = lang_emb.shape[-1] + lang_emb = lang_emb * math.sqrt(lang_emb_dim) + + embs.append(lang_emb) + pad_masks.append(lang_masks) + att_masks += [0] * lang_emb.shape[1] + + def _add_state_embeddings(self, state, embs, pad_masks, att_masks): + """Add state embeddings to the lists.""" + state_emb = self.state_proj(state) + state_emb = state_emb[:, None, :] if state_emb.ndim == 2 else state_emb + + bsize, states_seq_len = state_emb.shape[:2] + state_mask = torch.ones(bsize, states_seq_len, dtype=torch.bool, device=state_emb.device) + + embs.append(state_emb) + pad_masks.append(state_mask) + att_masks += [1] * states_seq_len # State tokens get causal attention + + def _add_pointtracker_embeddings(self, pointtrackers, pt_masks, embs, pad_masks, att_masks): + """Add point tracker embeddings to the lists (future extension).""" + # TODO: Implement point tracker processing + # Example implementation: + # for pt, pt_mask in zip(pointtrackers, pt_masks): + # pt_emb = self.pointtracker_encoder(pt) # Need to add this + # embs.append(pt_emb) + # pad_masks.append(pt_mask) + # att_masks += [0] * pt_emb.shape[1] + pass def embed_suffix(self, state, noisy_actions, timestep): """Embed state, noisy_actions, timestep to prepare for Expert Gemma processing.""" diff --git a/lerobot/configs/datasets.py b/lerobot/configs/datasets.py new file mode 100644 index 000000000..15630991f --- /dev/null +++ b/lerobot/configs/datasets.py @@ -0,0 +1,3035 @@ +from lerobot.common.constants import ACTION, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3, OBS_STATE, OBS_IMAGE_4, TASK, ROBOT + +IMAGES_ORDER = { + OBS_IMAGE: 0, + OBS_IMAGE_2: 1, + OBS_IMAGE_3: 2, + OBS_IMAGE_4: 3, +} +ROBOT_TYPE_KEYS_MAPPING = { + "lerobot/stanford_hydra_dataset": "static_single_arm", + "lerobot/iamlab_cmu_pickup_insert": "static_single_arm", + "lerobot/berkeley_fanuc_manipulation": "static_single_arm", + "lerobot/toto": "static_single_arm", + "lerobot/roboturk": "static_single_arm", + "lerobot/jaco_play": "static_single_arm", + "lerobot/taco_play": "static_single_arm_7statedim", +} +TRAINING_FEATURES = { + 0: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE], + 1: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE, OBS_IMAGE_2], + 2: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3], +} +# Map to "observation.state", "action", "observation.image", etc. +FEATURE_KEYS_MAPPING = { + "lerobot/aloha_mobile_cabinet": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.effort": None, + "observation.images.cam_low": None, + }, + "lerobot/aloha_static_cups_open": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_ziploc_slide": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_vinh_cup": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_vinh_cup_left": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_coffee": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_towel": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_static_screw_driver": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_mobile_wash_pan": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_mobile_shrimp": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_mobile_chair": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_mobile_wipe_wine": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_mobile_elevator": { + "observation.images.cam_high": OBS_IMAGE, + "observation.images.cam_left_wrist": OBS_IMAGE_2, + "observation.images.cam_right_wrist": OBS_IMAGE_3, + "observation.images.cam_low": None, + "observation.effort": None, + }, + "lerobot/aloha_sim_transfer_cube_human": { + "observation.images.top": OBS_IMAGE, + }, + "physical-intelligence/libero": { + "image": OBS_IMAGE, + "wrist_image": OBS_IMAGE_2, + "state": OBS_STATE, + "actions": ACTION, + }, + "IPEC-COMMUNITY/libero_10_no_noops_image_lerobot": { + "observation.images.image": OBS_IMAGE, + # "observation.images.wrist_image": None, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/libero_goal_image": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/libero_object_image": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/libero_spatial_image": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/libero_10_image": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/stanford_hydra_dataset": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/taco_play": { + "observation.images.rgb_static": OBS_IMAGE, + "observation.images.rgb_gripper": OBS_IMAGE_2, + }, + "lerobot/jaco_play": { + "observation.images.image": OBS_IMAGE, + "observation.images.image_wrist": OBS_IMAGE_2, + }, + "lerobot/roboturk": { + "observation.images.front_rgb": OBS_IMAGE, + }, + "lerobot/toto": { + "observation.images.image": OBS_IMAGE, + }, + "lerobot/iamlab_cmu_pickup_insert": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "lerobot/berkeley_fanuc_manipulation": { + "observation.images.image": OBS_IMAGE, + "observation.images.wrist_image": OBS_IMAGE_2, + }, + "cadene/droid_1.0.1": { + "observation.images.exterior_1_left": OBS_IMAGE, + "observation.images.wrist_left": OBS_IMAGE_2, + "observation.images.exterior_2_left": OBS_IMAGE_3, + "language_instruction": None, + "language_instruction_2": None, + "language_instruction_3": None, + "observation.state.gripper_position": None, + "observation.state.cartesian_position": None, + "observation.state.joint_position": None, + "action.gripper_position": None, + "action.gripper_velocity": None, + "action.cartesian_position": None, + "action.cartesian_velocity": None, + "action.joint_position": None, + "action.joint_velocity": None, + "action.original": None, + "discount": None, + "camera_extrinsics.wrist_left": None, + "camera_extrinsics.exterior_1_left": None, + "camera_extrinsics.exterior_2_left": None, + "is_episode_successful": None, + "task_category": None, + "building": None, + "collector_id": None, + "date": None, + }, + "danaaubakirova/svla_so100_task4_v3_multiple": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2, + }, + "danaaubakirova/svla_so100_task1_v3": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2, + }, + # Community datasets V1 + "pranavsaroha/so100_legos4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "pranavsaroha/so100_onelego2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "jpata/so100_pick_place_tangerine": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2, + }, + "pranavsaroha/so100_onelego3": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "pranavsaroha/so100_carrot_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "pranavsaroha/so100_carrot_5": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "pandaRQ/pick_med_1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.laptop1": OBS_IMAGE_2, + "observation.images.laptop2": OBS_IMAGE_3, + }, + "HITHY/so100_strawberry": { + "observation.images.laptop": OBS_IMAGE + }, + "vladfatu/so100_above": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE, + }, + "koenvanwijk/orange50-1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "koenvanwijk/orange50-variation-2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "FeiYjf/new_GtoR": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "CSCSXX/pick_place_cube_1.18": { + "observation.images.top": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "vladfatu/so100_office": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "dragon-95/so100_sorting": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "dragon-95/so100_sorting_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "nbaron99/so100_pick_and_place4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Beegbrain/pick_place_green_block": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "Ityl/so100_recording2": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "dragon-95/so100_sorting_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "dragon-95/so100_sorting_3": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "aractingi/push_cube_offline_data": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "HITHY/so100_peach3": { + "observation.images.laptop": OBS_IMAGE + }, + "HITHY/so100_peach4": { + "observation.images.laptop": OBS_IMAGE + }, + "shreyasgite/so100_legocube_50": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "shreyasgite/so100_base_env": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "triton7777/so100_dataset_mix": { + "observation.images.s_left": None, + "observation.images.s_right": OBS_IMAGE_3, + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "Deason11/Open_the_drawer_to_place_items": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Deason11/PLACE_TAPE_PUSH_DRAWER": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "mikechambers/block_cup_14": { + "observation.images.main_cam": OBS_IMAGE, + "observation.images.secondary_cam": OBS_IMAGE_2 + }, + "samsam0510/tooth_extraction_3": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/tooth_extraction_4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/cube_reorientation_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/cube_reorientation_4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/glove_reorientation_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "DorayakiLin/so100_pick_charger_on_tissue": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/noticehuman3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "liuhuanjim013/so100_th": { + "observation.images.front": OBS_IMAGE, + "observation.images.top": OBS_IMAGE_2 + }, + + # Community datasets V2 + "00ri/so100_battery": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "00ri/so100_battery_bin_center": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "1g0rrr/sam_openpi03": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "1g0rrr/sam_openpi_solder1": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "1g0rrr/sam_openpi_solder2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "356c/so100_duck_reposition_1": {"observation.images.body": OBS_IMAGE_2, + "observation.images.overhead": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_3}, + "356c/so100_nut_sort_1": {"observation.images.body": OBS_IMAGE_2, + "observation.images.overhead": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_3}, + "AndrejOrsula/lerobot_double_ball_stacking_random": {"observation.images.realsense": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2}, + "Bartm3/dice2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "Beegbrain/pick_lemon_and_drop_in_bowl": {"observation.images.realsense_side": OBS_IMAGE, + "observation.images.realsense_top": OBS_IMAGE_2}, + "Beegbrain/sweep_tissue_cube": {"observation.images.realsense_side": OBS_IMAGE, + "observation.images.realsense_top": OBS_IMAGE_2}, + "Chojins/chess_game_000_white_red": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "Chojins/chess_game_001_blue_stereo": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "Chojins/chess_game_001_red_stereo": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "Chojins/chess_game_009_white": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "CrazyYhang/A1234-B-C_mvA2B": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "FsqZ/so100_1": {"observation.images.side": OBS_IMAGE}, + "Gano007/so100_medic": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "Jiafei1224/so100_pa222per": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "Jiangeng/so100_413": {"observation.images.top": OBS_IMAGE_2, + "observation.images.wrist_left": OBS_IMAGE}, + "LemonadeDai/so100_coca": {"observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "Loki0929/so100_duck": {"observation.images.third": OBS_IMAGE_3, + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "Mohamedal/put_banana": {"observation.images.realsense_side": OBS_IMAGE, + "observation.images.realsense_top": OBS_IMAGE_2}, + "Mwuqiu/so100_0408_muti": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "Odog16/so100_cube_drop_pick_v1": {"observation.images.workspace": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "Odog16/so100_cube_stacking_v1": {"observation.images.Workspace": OBS_IMAGE, + "observation.images.Wrist": OBS_IMAGE_2}, + "RasmusP/so100_Orange2Green": {"observation.images.phone": OBS_IMAGE, + "observation.images.webcam": OBS_IMAGE_2}, + "VoicAndrei/so100_banana_to_plate_only": {"observation.images.right": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE}, + "ZGGZZG/so100_drop0": {"observation.images.left": OBS_IMAGE_2, + "observation.images.up": OBS_IMAGE}, + "ad330/cubePlace": {"observation.images.phone": OBS_IMAGE, + "observation.images.wristCam": OBS_IMAGE_2}, + "aimihat/so100_tape": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "andlyu/so100_indoor_1": {"observation.images.arm_left": OBS_IMAGE_3, + "observation.images.arm_right": OBS_IMAGE_2, + "observation.images.base_left": None, + "observation.images.base_right": OBS_IMAGE}, + "andlyu/so100_indoor_3": {"observation.images.arm_left": OBS_IMAGE_3, + "observation.images.arm_right": OBS_IMAGE_2, + "observation.images.base_left": None, + "observation.images.base_right": OBS_IMAGE}, + "bensprenger/chess_game_001_blue_stereo": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "bensprenger/left_arm_yellow_brick_in_box_v0": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "bensprenger/left_arm_yellow_brick_in_box_with_purple_noise_v0": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "bensprenger/right_arm_p_brick_in_box_with_y_noise_v0": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "frk2/so100large": {"observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "frk2/so100largediffcam": {"observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "ganker5/so100_color_0328": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "ganker5/so100_dataline_0328": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "ganker5/so100_dataline_20250331": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "ganker5/so100_push_20250328": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "ganker5/so100_push_20250331": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "ganker5/so100_toy_20250402": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "gxy1111/so100_pick_place": {"observation.images.eye": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "isadev/bougies3": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "jlesein/TestBoulon7": {"observation.images.robor": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE}, + "lirislab/close_top_drawer_teabox": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/fold_bottom_right": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/guess_who_so100": {"observation.images.mounted": OBS_IMAGE}, + "lirislab/lemon_into_bowl": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/open_top_drawer_teabox": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/push_cup_target": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/put_banana_bowl": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/put_caps_into_teabox": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/put_coffee_cap_teabox": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/red_cube_into_blue_cube": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/red_cube_into_green_lego_block": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/so100_demo": {"observation.images.front": OBS_IMAGE}, + "lirislab/sweep_tissue_cube": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "lirislab/unfold_bottom_right": {"observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE}, + "paszea/so100_lego": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "paszea/so100_lego_2cam": {"observation.images.front": OBS_IMAGE, + "observation.images.top": OBS_IMAGE_2}, + "paszea/so100_whale_2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "paszea/so100_whale_3": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "paszea/so100_whale_4": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "pierfabre/chicken": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/cow2": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/horse": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/pig2": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/pig3": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/rabbit": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pierfabre/sheep": {"observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE}, + "pietroom/actualeasytask": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "pietroom/holdthis": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "roboticshack/left-arm-grasp-lego-brick": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "roboticshack/team-7-left-arm-grasp-motor": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "roboticshack/team-7-right-arm-grasp-tape": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "roboticshack/team13-three-balls-stacking": {"observation.images.realsense": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2}, + "roboticshack/team13-two-balls-stacking": {"observation.images.realsense": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2}, + "roboticshack/team16-can-stacking": {"observation.images.head": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "roboticshack/team16-water-pouring": {"observation.images.head": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2}, + "roboticshack/team9-pick_chicken_place_plate": {"observation.images.static_left": OBS_IMAGE, + "observation.images.static_right": OBS_IMAGE_2}, + "roboticshack/team9-pick_cube_place_static_plate": {"observation.images.static_left": OBS_IMAGE, + "observation.images.static_right": OBS_IMAGE_2}, + "samanthalhy/so100_herding_1": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/mond_1": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/sihyun_3_17_2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/sihyun_3_17_5": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/sihyun_main_2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/sihyun_main_3": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/suho_3_17_1": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/suho_3_17_3": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sihyun77/suho_main_2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "sixpigs1/so100_pick_cube_in_box": {"observation.images.above": OBS_IMAGE_2, + "observation.images.rightfront": OBS_IMAGE}, + "sixpigs1/so100_stack_cube_error": {"observation.images.above": OBS_IMAGE_2, + "observation.images.rightfront": OBS_IMAGE}, + "smanni/train_so100_fluffy_box": {"observation.images.intel_realsense": OBS_IMAGE}, + "therarelab/so100_pick_place_2": {"observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE}, + "tkc79/so100_lego_box_1": {"observation.images.arm": OBS_IMAGE_2, + "observation.images.laptop": OBS_IMAGE}, + "tkc79/so100_lego_box_2": {"observation.images.arm": OBS_IMAGE_2, + "observation.images.laptop": OBS_IMAGE}, + "weiye11/so100_410_zwy": {"observation.images.top": OBS_IMAGE, + "observation.images.wrist_left": OBS_IMAGE_2}, + "zijian2022/321": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "zijian2022/backgrounda": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "zijian2022/backgroundb": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "zijian2022/close3": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "zijian2022/insert2": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + "zijian2022/sort1": {"observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2}, + # Community datasets V3 + "satvikahuja/mixer_on_off_new_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": OBS_IMAGE_3, + }, + "aergogo/so100_pick_place": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2, + }, + "andy309/so100_0314_fold_cloths": { + "observation.images.top": OBS_IMAGE, + "observation.images.back": OBS_IMAGE_2 + }, + "jchun/so100_pickplace_small_20250323_120056": { + "observation.images.main": OBS_IMAGE_2, + "observation.images.cv": OBS_IMAGE_3, + "observation.images.webcam": OBS_IMAGE + }, + "astroyat/cube": { + "observation.images.laptop": OBS_IMAGE + }, + "Ofiroz91/so_100_cube2bowl": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "HappyPablo/dec3_data2": { + "observation.images.laptop": None, + "observation.images.phone": OBS_IMAGE_2 + }, + "ZCM5115/so100_1210": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.hikvision": OBS_IMAGE_2 + }, + "francescocrivelli/orange_feeding": { + "observation.images.endeffector": OBS_IMAGE_2, + "observation.images.workspace": OBS_IMAGE + }, + "francescocrivelli/carrot_eating": { + "observation.images.endeffector": OBS_IMAGE_2, + "observation.images.workspace": OBS_IMAGE + }, + "0x00raghu/toffee_red": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_red_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_red_3__": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_blue": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_blue_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_to_hand_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "0x00raghu/toffee_to_hand_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "liyitenga/so100_bi_hello": { + "observation.images.center": OBS_IMAGE, + "observation.images.left_follower": OBS_IMAGE_2, + "observation.images.right_follower": OBS_IMAGE_3 + }, + "liyitenga/so100_bi_giveme5": { + "observation.images.center": OBS_IMAGE, + "observation.images.left_follower": OBS_IMAGE_2, + "observation.images.right_follower": OBS_IMAGE_3 + }, + "ZCM5115/so100_2Arm3cameras_movebox": { + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE_3 + }, + "pranavsaroha/so100_carrot_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "pranavsaroha/so100_carrot_3": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "pranavsaroha/so100_carrot_4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "maximilienroberti/so100_lego_red_box": { + "observation.images.cam_left": OBS_IMAGE, + "observation.images.cam_middle": OBS_IMAGE_3, + "observation.images.cam_right": OBS_IMAGE_2 + }, + "pranavsaroha/so100_squishy": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "rabhishek100/so100_train_dataset": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "pranavsaroha/so100_squishy100": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "swarajgosavi/kikobot_pusht_real_v2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "pandaRQ/pickmed": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.laptop1": OBS_IMAGE_2, + "observation.images.laptop2": OBS_IMAGE_3 + }, + "swarajgosavi/act_kikobot_pusht_real": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "pranavsaroha/so100_squishy2colors": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "pranavsaroha/so100_squishy2colors_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Chojins/chess_game_001_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "jmrog/so100_sweet_pick": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Chojins/chess_game_002_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "pranavsaroha/so100_squishy2colors_2_new": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Chojins/chess_game_003_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "aractingi/pick_place_lego_cube": { + "observation.images.wrist": OBS_IMAGE, + "observation.images.top": OBS_IMAGE_2 + }, + "Chojins/chess_game_004_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Chojins/chess_game_005_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Chojins/chess_game_006_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Chojins/chess_game_007_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "koenvanwijk/blue2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": None + }, + "jlitch/so100multicam3": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.overview2": OBS_IMAGE + }, + "koenvanwijk/blue52": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": None + }, + "jlitch/so100multicam6": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.overview2": OBS_IMAGE + }, + "aractingi/pick_place_lego_cube_1": { + "observation.images.wrist": OBS_IMAGE, + "observation.images.top": OBS_IMAGE_2 + }, + "jlitch/so100multicam7": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.overview2": OBS_IMAGE + }, + "vladfatu/so100_ds": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Chojins/chess_game_000_white": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "HITHY/so100-kiwi": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "HITHY/so100_peach1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "HITHY/so100_redstrawberry": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "satvikahuja/orange_mixer_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": None + }, + "satvikahuja/mixer_on_off": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": None + }, + "satvikahuja/orange_pick_place_new1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": None + }, + "satvikahuja/mixer_on_off_new": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": None + }, + "danmac1/real_real332": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "FeiYjf/Makalu_push": { + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy1": { + "observation.images.left": OBS_IMAGE + }, + "chmadran/so100_dataset04": { + "observation.images.laptop": OBS_IMAGE + }, + "FeiYjf/Maklu_dataset": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "FeiYjf/new_Dataset": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "liyitenga/so100_pick_taffy2": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "satvikahuja/mixer_on_off_new_4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": None, + "observation.images.Lwebcam": OBS_IMAGE, + "observation.images.macwebcam": None + }, + "CSCSXX/pick_place_cube_1.17": { + "observation.images.top": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "liyitenga/so100_pick_taffy3": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy4": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "yuz1wan/so100_pick_pink": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_pick_wahaha": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_pp_pink": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_pour_cup": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy5": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy6": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "yuz1wan/so100_button": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_pickplace": { + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.side": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy7": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE, + "observation.images.left_top": OBS_IMAGE_3 + }, + "FeiYjf/push_gg": { + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE + }, + "FeiYjf/push_0094": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "swarajgosavi/act_kikobot_block_real": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "liyitenga/so100_pick_taffy8": { + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "phospho-ai/OrangeBrick3Cameras": { + "observation.images.main.left": OBS_IMAGE_3, + "observation.images.main.right": OBS_IMAGE_2, + "observation.images.secondary_0": OBS_IMAGE + }, + "vaishanthr/toy_pick_place": { + "observation.images.webcam": OBS_IMAGE, + "observation.images.gipper_cam": OBS_IMAGE_2 + }, + "SeanLMH/so100_picknplace_v2": { + "observation.images.overhead": OBS_IMAGE, + "observation.images.front": OBS_IMAGE_2 + }, + "pepijn223/yellow_lego_in_box1": { + "observation.images.phone": OBS_IMAGE + }, + "DimiSch/so100_50ep_2": { + "observation.images.realsense": OBS_IMAGE + }, + "DimiSch/so100_50ep_3": { + "observation.images.realsense": OBS_IMAGE + }, + "SeanLMH/so100_picknplace": { + "observation.images.overhead": OBS_IMAGE, + "observation.images.front": OBS_IMAGE_2 + }, + "nbaron99/so100_pick_and_place2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "chmadran/so100_dataset08": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "vaishanthr/toy_pickplace_50ep": { + "observation.images.webcam": OBS_IMAGE, + "observation.images.gipper_cam": OBS_IMAGE_2 + }, + "Beegbrain/pick_place_green_block_lr": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "Ityl/so100_recording1": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "vaishanthr/toy_pickplace": { + "observation.images.webcam": OBS_IMAGE, + "observation.images.gipper_cam": OBS_IMAGE_2 + }, + "ad330/so100_box_pickPlace": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Beegbrain/so100_put_cube_cup": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "aractingi/push_green_cube_hf": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "aractingi/push_green_cube_hf_cropped_resized": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "carpit680/giraffe_task": { + "observation.images.webcam": OBS_IMAGE + }, + "carpit680/giraffe_sock_demo_1": { + "observation.images.webcam": OBS_IMAGE + }, + "DimiSch/so100_terra_50_2": { + "observation.images.realsense": OBS_IMAGE + }, + "carpit680/giraffe_sock_demo_2": { + "observation.images.webcam": OBS_IMAGE + }, + "aractingi/push_cube_to_face_reward": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "aractingi/push_cube_to_face_reward_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "aractingi/push_cube_reward_data": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "aractingi/push_cube_reward_data_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "aractingi/push_cube_offline_data_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "aractingi/push_cube_front_side_reward": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_front_side_reward_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_front_side_reward_long": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_front_side_reward_long_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_reward": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_reward_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_reward_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_reward_1": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_reward_1_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_light_reward": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_light_offline_demo": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_light_offline_demo_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "denghj/dataset_red_tape01": { + "observation.images.laptop": OBS_IMAGE + }, + "aractingi/push_cube_square_offline_demo": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_square_offline_demo_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "Beegbrain/stack_two_cubes": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "FeiYjf/Test_NNNN": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "LegrandFrederic/Orange-brick-lower-resolution": { + "observation.images.main.left": OBS_IMAGE, + "observation.images.main.right": OBS_IMAGE_2, + "observation.images.secondary_0": OBS_IMAGE_3 + }, + "aractingi/pick_place_lego_cube_cropped_resized": { + "observation.images.wrist": OBS_IMAGE, + "observation.images.top": OBS_IMAGE_2 + }, + "aractingi/push_cube_overfit": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "aractingi/push_cube_overfit_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "HITHY/so100_peach": { + "observation.images.laptop": OBS_IMAGE + }, + "zaringleb/so100_cube_2": { + "observation.images.cam_high": OBS_IMAGE + }, + "andreasBihlmaier/dual_arm_transfer_2025_02_16": { + "observation.images.webcam_1": OBS_IMAGE_3, + "observation.images.webcam_2": OBS_IMAGE_2, + "observation.images.webcam_3": OBS_IMAGE + }, + "zaringleb/so100_cube_4_binary": { + "observation.images.cam_high": OBS_IMAGE + }, + "1g0rrr/reward_pickplace1": { + "observation.images.laptop": OBS_IMAGE + }, + "1g0rrr/reward_pickplace1_cropped_resized": { + "observation.images.laptop": OBS_IMAGE + }, + "FeiYjf/Hold_Pieces": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "FeiYjf/Grab_Pieces": { + "observation.images.left": OBS_IMAGE, + "observation.images.right": OBS_IMAGE_2 + }, + "hegdearyandev/so100_eraser_cup_v1": { + "observation.images.webcam-0": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "jbraumann/so100_1902": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "liyitenga/so100_pick_taffy10": { + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_3, + "observation.images.gripper": OBS_IMAGE_2 + }, + "mikechambers/block_cup_5": { + "observation.images.main_cam": OBS_IMAGE, + "observation.images.secondary_cam": OBS_IMAGE_2 + }, + "zaringleb/so100_cube_5_linear": { + "observation.images.cam_high": OBS_IMAGE + }, + "yuz1wan/so100_pickplace_0223_2": { + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_pickplace_0223_3": { + "observation.images.side": OBS_IMAGE + }, + "samsam0510/mj_data_temp": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/tape_insert_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "samsam0510/tape_insert_2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "pengjunkun/so100_push_to_hole": { + "observation.images.laptop": OBS_IMAGE + }, + "Deason11/Random_Kitchen": { + "observation.images.L_OverheadCamera": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2, + "observation.images.R_OverheadCamera": OBS_IMAGE_3 + }, + "1g0rrr/reward_dataset_name2": { + "observation.images.side": OBS_IMAGE_2, + "observation.images.front": OBS_IMAGE + }, + "1g0rrr/reward_dataset_name2_cropped_resized": { + "observation.images.side": OBS_IMAGE_2, + "observation.images.front": OBS_IMAGE + }, + "1g0rrr/offline_dataset_name2": { + "observation.images.side": OBS_IMAGE_2, + "observation.images.front": OBS_IMAGE + }, + "1g0rrr/offline_dataset_name2_cropped_resized": { + "observation.images.side": OBS_IMAGE_2, + "observation.images.front": OBS_IMAGE + }, + "aractingi/push_cube_simp_cropped_resized": { + "observation.images.front": OBS_IMAGE, + "observation.images.side": OBS_IMAGE_2 + }, + "danielkr452/so100_work6": { + "observation.images.laptop": None, + "observation.images.phone": OBS_IMAGE_2 + }, + "Loki0929/so100_100": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "yuz1wan/so100_fold_0227_1": { + "observation.images.side": OBS_IMAGE + }, + "yuz1wan/so100_fold_0227_2": { + "observation.images.side": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "speedyyoshi/so100_grasp_pink_block": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "lirislab/stack_two_red_cubes": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "lirislab/red_cube_into_mug": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "lirislab/green_lego_block_into_mug": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "lirislab/green_lego_block_into_mug_easy": { + "observation.images.realsense_side": OBS_IMAGE_2, + "observation.images.realsense_top": OBS_IMAGE + }, + "kevin510/lerobot-cat-toy-placement": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA_BOX": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + + "wangjl1512/pour_water": { + "observation.images.laptop": OBS_IMAGE + }, + "airthebear/so100_GL": { + "observation.images.laptop": OBS_IMAGE + }, + "zijian2022/noticehuman1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/noticehuman2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "kantine/so100_kapla_tower6": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "zijian2022/noticehuman5": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/llm40": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Ashton3/lerobot-aloha": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/noticehuman50": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "AaronNewman/screwdriver_task_batch1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "AaronNewman/screwdriver_task_batch2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "AaronNewman/screwdriver_task_batch3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/noticehuman60": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/noticehuman70": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Bartm3/tape_to_bin": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "liuhuanjim013/so100_th_1": { + "observation.images.top": OBS_IMAGE, + "observation.images.hand": OBS_IMAGE_2 + }, + "Pi-robot/barbecue_flip": { + "observation.images.top": OBS_IMAGE_2, + "observation.images.wrist": OBS_IMAGE + }, + "Pi-robot/barbecue_put": { + "observation.images.top": OBS_IMAGE_2, + "observation.images.wrist": OBS_IMAGE + }, + "wangjl1512/doll": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "sshh11/so100_orange_50ep_1": { + "observation.images.laptop": OBS_IMAGE + }, + "sshh11/so100_orange_50ep_2": { + "observation.images.laptop": OBS_IMAGE + }, + "DorayakiLin/so100_pick_cube_in_box": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Bartm3/tape_to_bin2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "luke250305/play_dice_250311.1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "andy309/so100_0311_1152": { + "observation.images.top": OBS_IMAGE, + "observation.images.back": OBS_IMAGE_2, + "observation.images.wrist_right": OBS_IMAGE_3 + }, + "sihyun77/suho_so100": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "sihyun77/si_so100": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "shreyasgite/so100_base_left": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "sihyun77/suho_red": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "liuhuanjim013/so100_block": { + "observation.images.top": OBS_IMAGE, + "observation.images.hand": OBS_IMAGE_2 + }, + "andy309/so100_0313_no_wrist_camera": { + "observation.images.top": OBS_IMAGE, + "observation.images.back": OBS_IMAGE_2 + }, + "zijian2022/l9": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + ## Annotated by Mustafa + "zijian2022/n1_2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "DorayakiLin/so100_stack_cube": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "andy309/so100_0313_no_wrist_camera_with_two_arms_cloths": { + "observation.images.top": OBS_IMAGE, + "observation.images.back": OBS_IMAGE_2 + }, + "joaoocruz00/so100_makeitD1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.realsensergb": OBS_IMAGE + }, + "zijian2022/l10_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "zijian2022/l10_5": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "sihyun77/suho_red2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "sihyun77/suho_angel": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "sihyun77/sihyun_king": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "acrampette/third_arm_01": { + "observation.images.wrist": OBS_IMAGE_2 + }, + "Winster/so100_cube": { + "observation.images.laptop": OBS_IMAGE + }, + "1g0rrr/sam_openpi03": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "thedevansh/mar16_1336": { + "observation.images.laptop": OBS_IMAGE + }, + "hkphoooey/throw_stuffie": { + "observation.images.phone": OBS_IMAGE + }, + "doujiangwang/task1_10epi_100000step": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "sihyun77/sihyun_3_17_1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "acrampette/third_arm_02": { + "observation.images.wrist": OBS_IMAGE_2 + }, + "imsyed00/so100_yellowbowl_pickplace_1": { + "observation.images.laptop": OBS_IMAGE + }, + "kumarhans/so100_tape_task": { + "observation.images.laptop1": OBS_IMAGE, + "observation.images.laptop2": OBS_IMAGE_2 + }, + "sihyun77/sihyun_main": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "doujiangwang/task2_10epi_100000step": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/industrial_robothon_buttons_expert": { + "observation.images.logitech_1": OBS_IMAGE_2, + "observation.images.logitech_2": OBS_IMAGE + }, + "kantine/industrial_robothon_buttons_anomaly": { + "observation.images.logitech_1": OBS_IMAGE_2, + "observation.images.logitech_2": OBS_IMAGE + }, + "kantine/industrial_robothon_hatchAndProbe_expert": { + "observation.images.logitech_1": OBS_IMAGE_2, + "observation.images.logitech_2": OBS_IMAGE + }, + "kantine/industrial_robothon_hatchAndProbe_anomaly": { + "observation.images.logitech_1": OBS_IMAGE_2, + "observation.images.logitech_2": OBS_IMAGE + }, + "Odog16/so100_tea_towel_folding_v1": { + "observation.images.workspace": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "zijian2022/so100_318": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/so100_318_1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Congying1112/so100_place_blue_bottle_with_two_cameras": { + "observation.images.onhand": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "Congying1112/so100_place_blue_bottle_with_two_cameras2": { + "observation.images.onhand": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "Congying1112/so100_place_blue_bottle_with_single_camera": { + "observation.images.onhand": OBS_IMAGE_2 + }, + "pietroom/first_task_short": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/industrial_screws_sorting_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/industrial_screws_sorting_anomaly": { + "observation.images.logitech_1": OBS_IMAGE_2, + "observation.images.logitech_2": OBS_IMAGE + }, + "pietroom/second_task": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "zijian2022/c0": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "doujiangwang/task4_10epi_100000step": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Congying1112/so100_switch_with_onhand_camera": { + "observation.images.onhand": OBS_IMAGE_2 + }, + "HYAIYN/so100_get_orange_10epi": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "doujiangwang/task5_10epi_100000step": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "1g0rrr/sam_openpi_cube_low10": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "1g0rrr/sam_openpi_cube_top10": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "1g0rrr/sam_openpi_wire10": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "1g0rrr/sam_openpi_solder1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "1g0rrr/sam_openpi_solder2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + # "cranberrysoft/so100": { + # "observation.images.laptop": OBS_IMAGE, + # "observation.images.phone": OBS_IMAGE_2 + # }, + "wcode/so100_put_pen_50": { + "observation.images.hand": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "jchun/so100_pickplace_small_20250322_193929": { + "observation.images.main": OBS_IMAGE_3, + "observation.images.cv": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE + }, + "bnarin/so100_tic_tac_toe_we_do_it_live": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "dc2ac/so100-t5": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "chmadran/so100_home_dataset": { + "observation.images.logitech": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2, + "observation.images.laptop": OBS_IMAGE_3 + }, + "baladhurgesh97/so100_final_picking_3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "bnarin/so100_tic_tac_toe_move_0_0": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "bnarin/so100_tic_tac_toe_move_1_0": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "bnarin/so100_tic_tac_toe_move_2_1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "bnarin/so100_tic_tac_toe_move_4_0": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "zaringleb/so100_cube_6_2d": { + "observation.images.cam_high": OBS_IMAGE + }, + "andlyu/so100_indoor_0": { + "observation.images.arm_left": OBS_IMAGE_2, + "observation.images.arm_right": OBS_IMAGE_3, + "observation.images.base_left": None, + "observation.images.base_right": OBS_IMAGE + }, + "andlyu/so100_indoor_2": { + "observation.images.arm_left": OBS_IMAGE_2, + "observation.images.arm_right": OBS_IMAGE_3, + "observation.images.base_left": None, + "observation.images.base_right": OBS_IMAGE + }, + "Winster/so100_sim": { + "observation.images.laptop": OBS_IMAGE + }, + "badwolf256/so100_twin_cam_duck": { + "observation.images.realsense": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "Congying1112/so100_simplepick_with_2_cameras_from_top": { + "observation.images.onhand": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "andlyu/so100_indoor_4": { + "observation.images.arm_left": OBS_IMAGE_2, + "observation.images.arm_right": OBS_IMAGE_3, + "observation.images.base_left": None, + "observation.images.base_right": OBS_IMAGE + }, + "Zak-Y/so100_grap_dataset": { + "observation.images.Logic_camera": OBS_IMAGE, + "observation.images.Left_follower": OBS_IMAGE_2, + "observation.images.Right_follower": OBS_IMAGE_3 + }, + "kantine/domotic_pouringCoffee_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_pouringCoffee_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "lucasngoo/so100_strawberry_grape": { + "observation.images.webcam": OBS_IMAGE + }, + "kantine/domotic_makingCoffee_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_makingCoffee_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "ZGGZZG/so100_drop1": { + "observation.images.left": OBS_IMAGE_2, + "observation.images.up": OBS_IMAGE + }, + "kantine/industrial_soldering_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/industrial_soldering_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_dishTidyUp_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_dishTidyUp_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_groceriesSorting_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_groceriesSorting_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "badwolf256/so100_twin_cam_duck_v2": { + "observation.images.realsense": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + # "andlyu/so100_indoor_5": { + # "observation.images.arm_left": OBS_IMAGE, + # "observation.images.arm_right": OBS_IMAGE_2, + # "observation.images.base_left": OBS_IMAGE_3, + # "observation.images.base_right": None + # }, + "kantine/domotic_vegetagblesAndFruitsSorting_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_vegetagblesAndFruitsSorting_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_setTheTable_expert": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "kantine/domotic_setTheTable_anomaly": { + "observation.images.logitech_1": OBS_IMAGE, + "observation.images.logitech_2": OBS_IMAGE_2 + }, + "therarelab/so100_pick_place": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "abhisb/so100_51_ep": { + "observation.images.front": OBS_IMAGE_3, + "observation.images.overhead": OBS_IMAGE, + "observation.images.mobile": OBS_IMAGE_2 + }, + "andlyu/so100_indoor_val_0": { + "observation.images.arm": OBS_IMAGE, + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.base": OBS_IMAGE_3 + }, + "allenchienxxx/so100Test": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "lizi178119985/so100_jia": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "badwolf256/so100_twin_cam_duck_v3": { + "observation.images.realsense": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "andrewcole712/so100_tape_bin_place": { + "observation.images.phone": OBS_IMAGE + }, + "Gano007/so100_lolo": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Zak-Y/so100_three_cameras_dataset": { + "observation.images.Left_follower": OBS_IMAGE_2, + "observation.images.Right_follower": OBS_IMAGE_2, + "observation.images.Logic_camera": OBS_IMAGE + }, + "Gano007/so100_doliprane": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "XXRRSSRR/so100_v3_num_episodes_50": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "zijian2022/assemblyarm2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "ganker5/so100_action_20250403": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "andlyu/so100_indoor_val2": { + "observation.images.base_right": None, + "observation.images.arm": OBS_IMAGE, + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.base": OBS_IMAGE_3 + }, + "Gano007/so100_gano": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "paszea/so100_whale_grab": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "paszea/so100_whale": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Clementppr/lerobot_pick_and_place_dataset_world_model": { + "observation.images.laptop": OBS_IMAGE + }, + "andlyu/so100_indoor_10": { + "observation.images.base_right": None, + "observation.images.arm": OBS_IMAGE, + "observation.images.gripper": OBS_IMAGE_2, + "observation.images.base": OBS_IMAGE_3 + }, + "RasmusP/so100_dataset50ep_a": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "RasmusP/so100_dataset50ep": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "Gano007/so100_second": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zaringleb/so100_cude_linear_and_2d_comb": { + "observation.images.cam_high": OBS_IMAGE + }, + "dsfsg/grasp_pens": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2, + "observation.images.phone2": OBS_IMAGE_3 + }, + "zijian2022/digitalfix": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/digitalfix2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/digitalfix3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "T1g3rGE/so100_pickplace_small_20250407_171912": { + "observation.images.webcam": OBS_IMAGE_2, + }, + "sihyun77/mond_13": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "abokinala/sputnik_100_11_pick_place_container": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "dsfsg/bring_bottle": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2, + "observation.images.phone2": OBS_IMAGE_3 + }, + # "duthvik/sputnik_100_13_pick_place_container": { + # "observation.images.laptop": OBS_IMAGE, + # "observation.images.phone": OBS_IMAGE_2 + # }, + "abokinala/sputnik_100_12_pick_place_container": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Mwuqiu/so100_0408": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "AK51/4090_01": { + "observation.images.left_arm_cam": OBS_IMAGE_2, + "observation.images.base_cam": OBS_IMAGE_3, + "observation.images.top_cam": OBS_IMAGE, + "observation.images.right_arm_cam": None + }, + "356c/so100_rope_reposition_1": { + "observation.images.side": OBS_IMAGE_3, + "observation.images.overhead": OBS_IMAGE, + "observation.images.body": OBS_IMAGE_2 + }, + "paszea/so100_lego_mix": { + "observation.images.phone": OBS_IMAGE + }, + "abokinala/sputnik_100_14_pick_place_container": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "abokinala/sputnik_100_23_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "jiajun001/eraser00_2": { + "observation.images.side": OBS_IMAGE, + "observation.images.hand": OBS_IMAGE_2 + }, + "jlesein/TestBoulon2": { + "observation.images.robor": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + "yskim2025/unitylerobot": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "duthvik/sputnik_100_31_pour_liquid": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "duthvik/sputnik_100_24_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "duthvik/sputnik_100_25_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "duthvik/sputnik_100_17_pick_place_container": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "duthvik/sputnik_100_26_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "isadev/bougies1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "danaaubakirova/svla_so100_task4_v3_clean": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/svla_so100_task5_v3_clean": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/svla_so100_task4_v3": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/svla_so100_task5_v3": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_task_1": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_task_2": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_task_3": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_task_4": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "sixpigs1/so100_pick_cube_in_box_error": { + "observation.images.above": OBS_IMAGE, + "observation.images.rightfront": OBS_IMAGE_2 + }, + "sixpigs1/so100_push_cube_error": { + "observation.images.above": OBS_IMAGE, + "observation.images.rightfront": OBS_IMAGE_2 + }, + "sixpigs1/so100_pull_cube_error": { + "observation.images.above": OBS_IMAGE, + "observation.images.rightfront": OBS_IMAGE_2 + }, + "isadev/bougies2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "therarelab/med_dis_rare_6": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "duthvik/sputnik_100_27_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/closer3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "duthvik/sputnik_100_41_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_42_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_43_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_44_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_51_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_52_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_53_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_45_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_32_pour_liquid": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_29_pick_place_surface": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "duthvik/sputnik_100_18_pick_place_container": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.usb_front": OBS_IMAGE_2, + "observation.images.side_view": OBS_IMAGE_3 + }, + "sixpigs1/so100_pull_cube_by_tool_error": { + "observation.images.above": OBS_IMAGE_2, + "observation.images.rightfront": OBS_IMAGE + }, + "sixpigs1/so100_insert_cylinder_error": { + "observation.images.above": OBS_IMAGE_2, + "observation.images.rightfront": OBS_IMAGE + }, + "abokinala/sputnik_100_54_kitchen_tasks": { + "observation.images.laptop": None, + "observation.images.phone": OBS_IMAGE + }, + "abokinala/sputnik_100_55_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "m1b/so100_bluelego": { + "observation.images.side": OBS_IMAGE, + "observation.images.phone": None + }, + "abokinala/sputnik_100_46_custom_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "m1b/so100_bluelego_updt": { + "observation.images.side": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/flip_A0": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/flip_A1": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/flip_A2": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/flip_A3": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "lirislab/guess_who_no_cond": { + "observation.images.mounted": OBS_IMAGE_2 + }, + "kantine/flip_A4": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "kantine/flip_A5": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "lirislab/guess_who_lighting": { + "observation.images.mounted": OBS_IMAGE_2 + }, + "nguyen-v/so100_press_red_button": { + "observation.images.back": OBS_IMAGE_3, + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": None + }, + "nguyen-v/so100_bimanual_grab_lemon_put_in_box2": { + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE_3 + }, + "pierfabre/cow": { + "observation.images.robot": OBS_IMAGE_2, + "observation.images.webcam": OBS_IMAGE + }, + "nguyen-v/press_red_button_new": { + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE_3 + }, + "nguyen-v/so100_rotate_red_button": { + "observation.images.top": OBS_IMAGE, + "observation.images.left": OBS_IMAGE_2, + "observation.images.right": OBS_IMAGE_3 + }, + # "raghav-katta-1/lerobot2": { + # "observation.images.cam": OBS_IMAGE + # }, + + "Cidoyi/so100_all_notes": { + "observation.images.keyboard_camera": OBS_IMAGE + }, + "roboticshack/team10-red-block": { + "observation.images.top": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Cidoyi/so100_all_notes_1": { + "observation.images.keyboard_camera": OBS_IMAGE + }, + "roboticshack/team_5-QuiEstCe_everyBox": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "roboticshack/team11_pianobot": { + "observation.images.keyboard_camera": OBS_IMAGE + }, + "roboticshack/team2-guess_who_so100": { + "observation.images.mounted": OBS_IMAGE + }, + "roboticshack/team2-guess_who_so100_light": { + "observation.images.mounted": OBS_IMAGE_2 + }, + "roboticshack/team2-guess_who_so100_edge_case": { + "observation.images.mounted": OBS_IMAGE_2 + }, + "roboticshack/team2-guess_who_less_ligth": { + "observation.images.mounted": OBS_IMAGE_2 + }, + "Cidoyi/so100_all_notes_3": { + "observation.images.keyboard_camera": OBS_IMAGE + }, + "dsfsg/grasp_pen_and_bottle": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_3, + "observation.images.phone2": OBS_IMAGE_2 + }, + "abokinala/sputnik_100_60_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "abokinala/sputnik_100_58_kitchen_tasks": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "danaaubakirova/so100_v2_task_1": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_v2_task_2": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_v2_task_3": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "danaaubakirova/so100_v2_task_4": { + "observation.images.top": OBS_IMAGE, + "observation.images.wrist": OBS_IMAGE_2 + }, + "zijian2022/force1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/force2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/force3": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "jiajun001/eraser00_3": { + "observation.images.side": OBS_IMAGE_3, + "observation.images.hand": OBS_IMAGE_2, + "observation.images.front": OBS_IMAGE + }, + "zijian2022/bi2": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/bi1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "zijian2022/hand1": { + "observation.images.laptop": OBS_IMAGE, + "observation.images.phone": OBS_IMAGE_2 + }, + "Setchii/so100_grab_ball": { + "observation.images.laptop": OBS_IMAGE_2, + "observation.images.phone": OBS_IMAGE + }, + "MossProphet/so100_square-1-2-3.2": { + "observation.images.External": OBS_IMAGE_3, + "observation.images.Arm_left": OBS_IMAGE_2, + "observation.images.Arm_right": None + }, + "Yotofu/so100_sweeper_shoes": { + "observation.images.front_rgb": OBS_IMAGE, + "observation.images.front_depth": OBS_IMAGE_2, + "observation.images.end_rgb": OBS_IMAGE_3, + "observation.images.end_depth": None + }, + "VoicAndrei/so100_banana_to_plate_rebel_full": { + "observation.images.right": OBS_IMAGE_2, + "observation.images.top": OBS_IMAGE + }, + # V4 datasets + '1g0rrr/screw1': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'Allen-488/koch_dataset_50': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'Anas0711/Gr00t_lerobot_state_action': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Anas0711/Gr00t_lerobot_state_action_180': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Anas0711/Gr00t_lerobot_state_action_600': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Anas0711/Gr00t_lerobot_state_action_60_continuous': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Anas0711/Gr00t_lerobot_state_action_box_1': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Anas0711/Gr00t_lerobot_state_action_box_2': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'Beegbrain/align_cubes_green_blue': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'Beegbrain/align_three_pens': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'Beegbrain/moss_close_drawer_teabox': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'Beegbrain/moss_open_drawer_teabox': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'Beegbrain/moss_put_cube_teabox': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'Beegbrain/moss_stack_cubes': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'Beegbrain/oc_stack_cubes': {'observation.images.realsense': OBS_IMAGE_3, + 'observation.images.realsense_top': OBS_IMAGE}, + 'Beegbrain/put_green_into_blue_bin': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'Beegbrain/put_red_triangle_green_rect': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'Beegbrain/put_screwdriver_box': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'Beegbrain/stack_2_cubes': {'observation.images.laptop': OBS_IMAGE}, + 'Beegbrain/stack_green_on_blue_cube': {'observation.images.back': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE}, + 'BlobDieKatze/GrabBlocks': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'Deason11/mobile_manipulator_0319': {'observation.images.L_OverheadCamera': OBS_IMAGE, + 'observation.images.R_OverheadCamera': OBS_IMAGE_3, + 'observation.images.wrist': OBS_IMAGE_2}, + 'Deason11/mobile_manipulator_0326': {'observation.images.L_OverheadCamera': OBS_IMAGE, + 'observation.images.R_OverheadCamera': OBS_IMAGE_3, + 'observation.images.wrist': OBS_IMAGE_2}, + 'Dongkkka/cable_pick_and_place2': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'Eyas/grab_bouillon': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'Eyas/grab_pink_lighter_10_per_loc': {'observation.images.laptop': OBS_IMAGE}, + 'Gongsta/grasp_duck_in_cup': {'observation.images.laptop': OBS_IMAGE}, + 'HWJ658970/fat_fish': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'HWJ658970/lego_100_class': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'HWJ658970/lego_50': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'HWJ658970/lego_50_camera_change': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'HuaihaiLyu/groceries': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_right_wrist': OBS_IMAGE_3}, + 'HuaihaiLyu/stackbasket': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_right_wrist': OBS_IMAGE_3}, + 'IPEC-COMMUNITY/berkeley_mvp_lerobot': {'observation.images.hand_image': OBS_IMAGE}, + 'IPEC-COMMUNITY/ucsd_kitchen_dataset_lerobot': {'observation.images.image': OBS_IMAGE}, + 'JJwuj/koch_static_grasp_0402_v5': {'observation.images.E12': OBS_IMAGE_2, + 'observation.images.E22S': OBS_IMAGE}, + 'KeWangRobotics/piper_push_cube_gamepad_1': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_push_cube_gamepad_1_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_push_cube_gamepad_2': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_push_cube_gamepad_2_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_1': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_1_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_2': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_2_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_3': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_3_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_4': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'KeWangRobotics/piper_rl_4_cropped_resized': {'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'Lugenbott/koch_1225': {'observation.images.Camera0': OBS_IMAGE, + 'observation.images.Camera2': OBS_IMAGE_2}, + 'RLWRLD/put_cube_sync': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_right_wrist': OBS_IMAGE_2}, + 'T-K-233/koch_k1_pour_shot': {'observation.images.gripper': OBS_IMAGE_2, + 'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE}, + 'TrossenRoboticsCommunity/aloha_ai_block': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_low': None, + 'observation.images.cam_right_wrist': OBS_IMAGE_3}, + 'TrossenRoboticsCommunity/aloha_baseline_dataset': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_low': None, + 'observation.images.cam_right_wrist': OBS_IMAGE_3}, + 'TrossenRoboticsCommunity/aloha_fold_tshirt': {'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_low': OBS_IMAGE, + 'observation.images.cam_right_wrist': OBS_IMAGE_3}, + 'TrossenRoboticsCommunity/aloha_stationary_logo_assembly': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_low': OBS_IMAGE_3, + 'observation.images.cam_right_wrist': None}, + # 'YoelChornton/moss_get_rope_15ep': {'observation.images.laptop': OBS_IMAGE, + # 'observation.images.phone': OBS_IMAGE_2}, + # 'YoelChornton/moss_get_rope_20ep_2': {'observation.images.laptop': OBS_IMAGE, + # 'observation.images.phone': OBS_IMAGE_2}, + # 'YoelChornton/moss_get_rope_20ep_new': {'observation.images.laptop': OBS_IMAGE, + # 'observation.images.phone': OBS_IMAGE_2}, + # 'YoelChornton/moss_get_rope_20ep_old': {'observation.images.laptop': OBS_IMAGE, + # 'observation.images.phone': OBS_IMAGE_2}, + # 'YoelChornton/moss_push_ball': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_absolute_joint': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_cropped_resized': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_relative_joint': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_reljoint_cropresized': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_reljoint_stop': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_reljoint_stop2': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_reljoint_stop2_cropped': {'observation.images.phone': OBS_IMAGE}, + # 'YoelChornton/moss_push_ball_reljoint_stop_cropped': {'observation.images.phone': OBS_IMAGE}, + 'Yuanzhu/koch_bimanual_grasp_0': {'observation.images.top_camera': OBS_IMAGE}, + 'Yuanzhu/koch_bimanual_grasp_3': {'observation.images.hand_camera': OBS_IMAGE_2, + 'observation.images.side_camera': OBS_IMAGE_3, + 'observation.images.top_camera': OBS_IMAGE}, + 'Zhaoting123/koch_cleanDesk_': {'observation.images.phone': OBS_IMAGE}, + 'abbyoneill/data_w_mug': {'observation.images.logitech1': OBS_IMAGE, + 'observation.images.logitech2': OBS_IMAGE_2}, + 'abbyoneill/new_dataset_pick_place': {'observation.images.logitech1': OBS_IMAGE, + 'observation.images.logitech2': OBS_IMAGE_3}, + 'abbyoneill/pusht': {'observation.images.logitech1': OBS_IMAGE, + 'observation.images.logitech2': OBS_IMAGE_3}, + 'abbyoneill/thurs1120pickplace': {'observation.images.logitech1': OBS_IMAGE, + 'observation.images.logitech2': OBS_IMAGE_3}, + 'abougdira/cube_target': {'observation.images.realsense': OBS_IMAGE_3, + 'observation.images.realsense_top': OBS_IMAGE}, + 'agonyxx/koch-aloha': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2, + 'observation.images.phone2': OBS_IMAGE_3}, + 'aliberts/koch_tutorial': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'andabi/D10': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D11': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D12': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D13': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D14': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D15': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D16': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D17': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D2': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D3': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D4': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D5': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D6': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D7': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D8': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/D9': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/a_shoe_easy_10': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'andabi/shoes_easy': {'observation.images.bird': OBS_IMAGE, + 'observation.images.wrist_left': OBS_IMAGE_2, + 'observation.images.wrist_right': OBS_IMAGE_3}, + 'arclabmit/Koch_twoarms': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'arclabmit/koch_gear_and_bin': {'observation.images.nexigo_webcam': OBS_IMAGE, + 'observation.images.realsense': OBS_IMAGE_3}, + 'cmcgartoll/cube_color_organizer': {'observation.images.claw': OBS_IMAGE_2, + 'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'ctbfl/sort_battery': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'dboemer/koch_50-samples': {'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE}, + 'dkdltu1111/omx-bottle1': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'dop0/koch_pick_terminal': {'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'ellen2imagine/pusht_green1': {'observation.images.phone': OBS_IMAGE}, + 'ellen2imagine/pusht_green_same_init2': {'observation.images.phone': OBS_IMAGE}, + 'engineer0002/pepper': {'observation.images.left_wrist': OBS_IMAGE_2, + 'observation.images.right_wrist': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE}, + 'ethanCSL/your_task_name': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'hangwu/koch_pick_terminal': {'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'hangwu/piper_pick_terminal_2': {'observation.images.depth': None, + 'observation.images.realsense_color': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE_2, + 'observation.images.top': OBS_IMAGE}, + 'hangwu/piper_pick_terminal_and_place': {'observation.images.depth': None, + 'observation.images.realsense_color': OBS_IMAGE_3, + 'observation.images.side': OBS_IMAGE_2, + 'observation.images.top': OBS_IMAGE}, + 'hannesill/koch_pnp_2_blocks_2_bins_200': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'hannesill/koch_pnp_simple_50': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'helper2424/hil-serl-push-circle-classifier': {'observation.images.web0': OBS_IMAGE, + 'observation.images.web1': OBS_IMAGE_3}, + 'ibru/bob_jetson': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'ibru/bobo_groot_n1_trash_picker': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'ibru/bobo_jetson': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'ibru/bobo_trash_collector': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'imatrixlee/koch_place': {'observation.images.eye': OBS_IMAGE_2, + 'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'jackvial/koch_with_rewards_4': {'observation.images.main': OBS_IMAGE}, + 'jainamit/koch': {'observation.images.nexigo': OBS_IMAGE}, + 'jainamit/koch_pickcube': {'observation.images.front_camera': OBS_IMAGE}, + 'jainamit/koch_realcube3': {'observation.images.front_camera': OBS_IMAGE}, + 'jannick-st/classifier': {'observation.images.cam_high': OBS_IMAGE, + 'observation.images.cam_left_wrist': OBS_IMAGE_2, + 'observation.images.cam_low': OBS_IMAGE_3, + 'observation.images.cam_right_wrist': None}, + 'jannick-st/push-cube-classifier_cropped_resized': {'observation.images.cam_low': OBS_IMAGE, + 'observation.images.cam_right_wrist': OBS_IMAGE_2, + 'observation.images.cam_top': OBS_IMAGE}, + 'lalalala0620/koch_blue_paper_tape': {'observation.images.front': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'ma3oun/rpi_squares_1': {'observation.images.laptop': OBS_IMAGE}, + 'meteorinc/koch_tea': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'mlfu7/pi0_conversion_no_pad_video': {'exterior_image_1_left': OBS_IMAGE, + 'wrist_image_left': OBS_IMAGE_2}, + 'ncavallo/moss_train_gc_block': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_2}, + 'ncavallo/moss_train_grasp': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_2}, + 'ncavallo/moss_train_grasp_new': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_2}, + 'nduque/act_50_ep': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/act_50_ep2': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/cam_setup2': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/robustness_e1': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/robustness_e2': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/robustness_e3': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/robustness_e4': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + 'nduque/robustness_e5': {'observation.images.above': OBS_IMAGE_3, + 'observation.images.front': OBS_IMAGE}, + # 'near0248/kinose_single_put_gum_in_bottle': {'observation.images.csi_camera': OBS_IMAGE_2, + # 'observation.images.realsense': OBS_IMAGE}, + 'nimitvasavat/Gr00t_lerobot': {'observation.images.back_image': OBS_IMAGE_3, + 'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'nimitvasavat/Gr00t_lerobotV2': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'nimitvasavat/Gr00t_lerobot_state_action': {'observation.images.image': OBS_IMAGE, + 'observation.images.wrist_image': OBS_IMAGE_2, + 'absolute_action': None, + 'annotation.human.action.task_description': None, + 'annotation.human.validity': None,'next.reward': None}, + 'pepijn223/lekiwi_block_cleanup2': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'pepijn223/lekiwi_drive_in_circle': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'pepijn223/lekiwi_drive_in_circle_recover': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'pepijn223/lekiwi_pen': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'rgarreta/koch_pick_place_lego': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'rgarreta/koch_pick_place_lego_v2': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'rgarreta/koch_pick_place_lego_v3': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'rgarreta/koch_pick_place_lego_v6': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'rgarreta/koch_pick_place_lego_v7': {'observation.images.laptop': OBS_IMAGE_2, + 'observation.images.phone': OBS_IMAGE}, + 'rgarreta/koch_pick_place_lego_v8': {'observation.images.lateral': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'roboticshack/sandee-kiwiv10': {'observation.images.front': OBS_IMAGE_3, + 'observation.images.wrist': OBS_IMAGE_2}, + 'seeingrain/241228_pick_place_2cams': {'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE}, + 'seeingrain/lego_3cameras': {'observation.images.side': OBS_IMAGE_3, + 'observation.images.top': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'seeingrain/one_shot_learning_18episodes': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_lego_to_hand': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_lego': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_lego_wider_range_dang': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_lego_wider_range_dong': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_lego_wider_range_richard': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_pink_lego': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_pink_lego_few_samples': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'seeingrain/pick_place_red_lego': {'observation.images.laptop': OBS_IMAGE_3, + 'observation.images.phone': OBS_IMAGE}, + 'shin1107/koch_move_block_with_some_positions': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_3}, + 'shin1107/koch_move_block_with_some_shapes': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_3}, + 'shin1107/koch_train_block': {'observation.images.front': OBS_IMAGE, + 'observation.images.top': OBS_IMAGE_3}, + 'takuzennn/aloha-pick100': {'observation.image.camera1': OBS_IMAGE, + 'observation.image.camera2': OBS_IMAGE_2, + 'observation.image.camera3': OBS_IMAGE_3}, + 'takuzennn/square3': {'observations.images.agentview': OBS_IMAGE, + 'observations.images.robot0_eye_in_hand': OBS_IMAGE_2}, + 'theo-michel/lekiwi_v2': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'theo-michel/lekiwi_v5': {'observation.images.front': OBS_IMAGE, + 'observation.images.wrist': OBS_IMAGE_2}, + 'twerdster/koch_new_training_red': {'observation.images.iphone': OBS_IMAGE_2, + 'observation.images.laptop': OBS_IMAGE_3}, + 'twerdster/koch_training_red': {'observation.images.rightegocam': OBS_IMAGE_2, + 'observation.images.rightstereocam': OBS_IMAGE_3}, + 'underctrl/handcamera_single_blue': {'observation.images.android': OBS_IMAGE, + 'observation.images.handcam': OBS_IMAGE_2, + 'observation.images.webcam': OBS_IMAGE_3}, + 'underctrl/mutli-stacked-block_mutli-color_pick-up_80': {'observation.images.phone': OBS_IMAGE_3, + 'observation.images.webcam': OBS_IMAGE}, + 'underctrl/single-block_blue-color_pick-up_80': {'observation.images.phone': OBS_IMAGE_3, + 'observation.images.webcam': OBS_IMAGE}, + 'underctrl/single-block_multi-color_pick-up_50': {'observation.images.phone': OBS_IMAGE_3, + 'observation.images.webcam': OBS_IMAGE}, + 'underctrl/single-stacked-block_mutli-color_pick-up_80': {'observation.images.phone': OBS_IMAGE_3, + 'observation.images.webcam': OBS_IMAGE}, + 'underctrl/single-stacked-block_two-color_pick-up_80': {'observation.images.phone': OBS_IMAGE_3, + 'observation.images.webcam': OBS_IMAGE}, + 'yg-dev/koch_red_pen2': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_2}, + 'zliu157/i3r': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'zliu157/i3r2': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'zliu157/i3r3': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + 'zliu157/i3r5': {'observation.images.laptop': OBS_IMAGE, + 'observation.images.phone': OBS_IMAGE_3}, + "jadechoghari/genesis-1k": {'observation.image.top': OBS_IMAGE, + 'observation.image.wrist': OBS_IMAGE_2, + 'observation.image.side': OBS_IMAGE_3}, + "jadechoghari/svla_so101-sim_task4_v3_multiple_1": {'observation.image.top': OBS_IMAGE, + 'observation.image.wrist': OBS_IMAGE_2, + 'observation.image.side': OBS_IMAGE_3}, + "jadechoghari/svla_so101-sim_task4_v3_multiple_2": {'observation.image.top': OBS_IMAGE, + 'observation.image.wrist': OBS_IMAGE_2, + 'observation.image.side': OBS_IMAGE_3}, +} + +EPISODES_DATASET_MAPPING = { + "cadene/droid_1.0.1": list(range(50)), + "danaaubakirova/svla_so100_task5_v3": [0, 1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], + "danaaubakirova/svla_so100_task4_v3": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53], +} +TASKS_KEYS_MAPPING = { + "pranavsaroha/so100_legos4": {0: "Pick up the LEGO block and place it in the bowl of the same color as the LEGO block."}, + "pranavsaroha/so100_onelego2": {0: "Pick up the green LEGO block and place it in the green bowl."}, + "jpata/so100_pick_place_tangerine": {0: "Pick up the tangerine and place it."}, + "pranavsaroha/so100_onelego3": {0: "Pick up the green LEGO block and place it in the green bowl."}, + "pranavsaroha/so100_carrot_2": {0: "Pick up a carrot and put it in the bin."}, + "pranavsaroha/so100_carrot_5": {0: "Pick up a carrot and put it in the bin."}, + "pandaRQ/pick_med_1": {0: "Pick up the object and place it in the box."}, + "HITHY/so100_strawberry": {0: "Grasp a strawberry and put it in the bin."}, + "vladfatu/so100_above": {0: "Pick up red object and place it in the box."}, + "koenvanwijk/orange50-1": {0: "Pick up the orange object and but it in the LEGO box. "}, + "koenvanwijk/orange50-variation-2": {0: "Pick up the orange object and but it in the LEGO box. "}, + "FeiYjf/new_GtoR": {0: "Move along the line on the paper from start to end."}, + "CSCSXX/pick_place_cube_1.18": {0: "Pick up the cube and place it in the box."}, + "vladfatu/so100_office": {0: "Pick up the red object and place it in the box."}, + "dragon-95/so100_sorting": {0: "Pick up the object from box A and place it in box B."}, + "dragon-95/so100_sorting_1": {0: "Pick up the object from box A and place it in box B."}, + "nbaron99/so100_pick_and_place4": {0: "Pick up the triangular object and place it on a green sticker."}, + "Beegbrain/pick_place_green_block": {0: "Pick up the green block and place in the red cup."}, + "Ityl/so100_recording2": {0: "Pick up the red cube and place it on top of the blue cube."}, + "dragon-95/so100_sorting_2": {0: "Pick up the object from box A and place it in box B."}, + "dragon-95/so100_sorting_3": {0: "Pick up the object from box A and place it in box B."}, + "aractingi/push_cube_offline_data": {0: "Push the green cube to the yellow sticker."}, + "HITHY/so100_peach3": {0: "Grasp a peach and put it in the bin."}, + "HITHY/so100_peach4": {0: "Grasp a peach and put it on the plate."}, + "shreyasgite/so100_legocube_50": {0: "Grasp a lego block and put it in the bin."}, + "shreyasgite/so100_base_env": {0: "Grasp a lego block and put it in the bin."}, + "triton7777/so100_dataset_mix": { + 0: "Pick up the black tape and place it inside the white tape roll.", + 1: "Pick up the gift miniatures and place them in the black box.", + 2: "Sort the mixed objects into their appropriate categories.", + 3: "Place the pens into the pen holder.", + 4: "Place pens, bottles, and any suitable items into the pen holder, as appropriate.", + 5: "Place the oranges into the yellow basket.", + 6: "Stack the plates and place the cup on top." + }, + "Deason11/Open_the_drawer_to_place_items": {0: "Put the objects in the open drawer."}, + "Deason11/PLACE_TAPE_PUSH_DRAWER": {0: "Place the tape in the drawer and close it. "}, + "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA": {0: "Pick up the object and place it in the box."}, + "mikechambers/block_cup_14": {0: "Grasp a block and put it in a cup."}, + "samsam0510/tooth_extraction_3": {0: "Extract the tooth and put it somewhere."}, + "samsam0510/tooth_extraction_4": {0: "Extarct the molar and put it somewhere."}, + "samsam0510/cube_reorientation_2": {0: "Rotate the object so it aligns with the silhouette on the table."}, + "samsam0510/cube_reorientation_4": {0: "Rotate the object so it aligns with respect to the line on the table."}, + "samsam0510/glove_reorientation_1": {0: "Rotate the glove so the bottom part aligns with the line on the table."}, + "DorayakiLin/so100_pick_charger_on_tissue": {0: "Pick up the charger and put it on the white tissue."}, + "zijian2022/noticehuman3": {0: "Notice human."}, + "liuhuanjim013/so100_th": {0: "Grasp a lego figure and put it in the box."}, + "Bartm3/tape_to_bin": {0: "Grasp a tape and put it in the bin."}, + + # Community dataset v2 + "Chojins/chess_game_009_white": { + 0: "Move the blue chess pieces to the highlighted squares." + }, + "1g0rrr/sam_openpi03": { + 0: "Pick up the cube and place it in the box." + }, + "sihyun77/suho_3_17_1": { + 0: "Grasp a lego block and put it in the bin." + }, + "sihyun77/sihyun_3_17_2": { + 0: "Grasp a lego block and put it in the bin." + }, + "sihyun77/suho_3_17_3": { + 0: "Grasp a lego block and put it in the bin." + }, + "sihyun77/sihyun_3_17_5": { + 0: "Grasp a lego block and put it in the bin." + }, + "Odog16/so100_cube_drop_pick_v1": { + 0: "Pick up the orange cube, release it, and then pick it up again." + }, + "sihyun77/sihyun_main_2": { + 0: "Grasp a lego block and put it in the bin." + }, + "sihyun77/suho_main_2": { + 0: "Grasp a lego block and put it in the bin." + }, + "Bartm3/dice2": { + 0: "Grasp a dice and put it in the bin." + }, + "sihyun77/sihyun_main_3": { + 0: "Grasp a lego block and put it in the bin." + }, + "Loki0929/so100_duck": { + 0: "Grasp red, green, yellow ducks and put them in the box." + }, + "pietroom/holdthis": { + 0: "Hold the object steadily without releasing it." + }, + "pietroom/actualeasytask": { + 0: "Grasp the marker and put it in the plastic box." + }, + "Beegbrain/pick_lemon_and_drop_in_bowl": { + 0: "Pick the yellow lemon and drop it in the red bowl." + }, + "Beegbrain/sweep_tissue_cube": { + 0: "Sweep the red cubes to the right with the tissue." + }, + "zijian2022/321": { + 0: "Grasp a lego block and put it in the bin." + }, + "1g0rrr/sam_openpi_solder1": { + 0: "Bring contact to the pad on the board." + }, + "1g0rrr/sam_openpi_solder2": { + 0: "Bring contact to the pad on the board." + }, + "gxy1111/so100_pick_place": { + 0: "Grasp a toy panda and put it in the cup." + }, + "Odog16/so100_cube_stacking_v1": { + 0: "Stack the cubes in the following order from bottom to top: black, blue, then orange." + }, + "sihyun77/mond_1": { + 0: "Grasp a lego block and put it in the bin." + }, + "andlyu/so100_indoor_1": { + 0: "Locate and grasp the blueberry." + }, + "andlyu/so100_indoor_3": { + 0: "Locate and grasp the blueberry." + }, + "frk2/so100large": { + 0: "Pick up roll of tape and put it in the bin." + }, + "lirislab/sweep_tissue_cube": { + 0: "Sweep the red cubes to the right with the tissue bag." + }, + "lirislab/lemon_into_bowl": { + 0: "Pick the yellow lemon and drop it in the red bowl" + }, + "lirislab/red_cube_into_green_lego_block": { + 0: "Put the red cube on top of the yellow cube." + }, + "lirislab/red_cube_into_blue_cube": { + 0: "Put the red cube on top of the blue cube." + }, + "00ri/so100_battery": { + 0: "Grasp a battery and put it in the bin." + }, + "frk2/so100largediffcam": { + 0: "Pick up roll of tape and put it in the bin" + }, + "FsqZ/so100_1": { + 0: "Put the yellow cube inside the purple box." + }, + "ZGGZZG/so100_drop0": { + 0: "Grasp a ball and put it in the hole." + }, + "Chojins/chess_game_000_white_red": { + 0: "Move the red chess pieces to the highlighted squares." + }, + "smanni/train_so100_fluffy_box": { + 0: "Grasp a small object and place it in the box." + }, + "ganker5/so100_push_20250328": { + 0: "Grasp a lego block and put it in the bin." + }, + "ganker5/so100_dataline_0328": { + 0: "Grasp a lego block and put it in the bin." + }, + "ganker5/so100_color_0328": { + 0: "Grasp a lego block and put it in the bin." + }, + "CrazyYhang/A1234-B-C_mvA2B": { + 0: "Move the top disk from the left column to the middle column." + }, + "RasmusP/so100_Orange2Green": { + 0: "Grasp the orange block and drop it in the box." + }, + "sixpigs1/so100_pick_cube_in_box": { + 0: "Pick up the red cube and put it in the box." + }, + "ganker5/so100_push_20250331": { + 0: "Grasp a lego block and put it in the bin." + }, + "ganker5/so100_dataline_20250331": { + 0: "Grasp a lego block and put it in the bin." + }, + "lirislab/put_caps_into_teabox": { + 0: "Pick the coffee capsule and put it into the top drawer of the teabox" + }, + "lirislab/close_top_drawer_teabox": { + 0: "Close the top drawer of the teabox" + }, + "lirislab/open_top_drawer_teabox": { + 0: "Open the top drawer of the teabox" + }, + "lirislab/unfold_bottom_right": { + 0: "Unfold the bag from bottom right corner" + }, + "lirislab/push_cup_target": { + 0: "Push the red cup to the pink target" + }, + "lirislab/put_banana_bowl": { + 0: "Put the banana into the red bowl" + }, + "Chojins/chess_game_001_blue_stereo": { + 0: "Move the blue chess pieces to the highlighted squares" + }, + "Chojins/chess_game_001_red_stereo": { + 0: "Move the red chess pieces to the highlighted squares" + }, + "ganker5/so100_toy_20250402": { + 0: "Grasp a lego block and put it in the bin." + }, + "Gano007/so100_medic": { + 0: "Grasp a medic box and put it in the bin." + }, + "00ri/so100_battery_bin_center": { + 0: "Grasp a battery and put it in the bin." + }, + "paszea/so100_whale_2": { + 0: "Grasp a whale and put it in the plate." + }, + "lirislab/fold_bottom_right": { + 0: "Fold the bag from the bottom right corner." + }, + "lirislab/put_coffee_cap_teabox": { + 0: "Put the coffee capsule into the top drawer of the teabox." + }, + "therarelab/so100_pick_place_2": { + 0: "Pick a plaster roll and place it to the blue sticker." + }, + "paszea/so100_whale_3": { + 0: "Grasp a whale and put it in the plate." + }, + "paszea/so100_whale_4": { + 0: "Grasp a whale and put it in the plate." + }, + "paszea/so100_lego": { + 0: "Grasp a lego and put it in the basket." + }, + "LemonadeDai/so100_coca": { + 0: "Grasp the Coca-Cola can and orient it upright with the top facing up." + }, + "zijian2022/backgrounda": { + 0: "Grasp a lego block and put it in the bin." + }, + "zijian2022/backgroundb": { + 0: "Grasp a lego block and put it in the bin." + }, + "356c/so100_nut_sort_1": { + 0: "Pick up the steel nuts and sort them by color." + }, + "Mwuqiu/so100_0408_muti": { + 0: "Grasp a yellow duck and put it in the box." + }, + "aimihat/so100_tape": { + 0: "Pick up the tape and put it in the bowl." + }, + "lirislab/so100_demo": { + 0: "Put the banana into the red bowl." + }, + "356c/so100_duck_reposition_1": { + 0: "Grasp the tool and use it to move the duck to the indicated position." + }, + "zijian2022/sort1": { + 0: "Grasp a box and sort it by color: place grey boxes on the left and black boxes on the right." + }, + "weiye11/so100_410_zwy": { + 0: "Pick up the cube and place it on the black circle." + }, + "VoicAndrei/so100_banana_to_plate_only": { + 0: "Pick up the banana and place it on the plate." + }, + "sixpigs1/so100_stack_cube_error": { + 0: "Pick up the red cube and stack it on the green cube with position offset when grasping.", + 1: "Pick up the red cube and stack it on the green cube with gripper error when grasping.", + 2: "Pick up the red cube and stack it on the green cube with position offset when stacking.", + 3: "Pick up the red cube and stack it on the green cube without errors", + }, + "isadev/bougies3": { + 0: "Grab the candle wick by the aluminium plate and place it in the box." + }, + "zijian2022/close3": { + 0: "Grasp a lego block and put it in the bin." + }, + "bensprenger/left_arm_yellow_brick_in_box_v0": { + 0: "Grasp the yellow lego block and put it in the box." + }, + "bensprenger/left_arm_yellow_brick_in_box_with_purple_noise_v0": { + 0: "Grasp a yellow lego block and put it in the bin." + }, + "roboticshack/team16-can-stacking": { + 0: "Grasp the flipped cup and stack it on top of the midpoint between the two other cups to create a tower" + }, + "bensprenger/right_arm_p_brick_in_box_with_y_noise_v0": { + 0: "Grasp the purple lego block and put it in the box." + }, + "pierfabre/pig2": { + 0: "Pick the pig and place it to the right." + }, + "zijian2022/insert2": { + 0: "Grasp a lego block and put it in the bin." + }, + "roboticshack/team-7-right-arm-grasp-tape": { + 0: "Grasp the tape and put it in the box." + }, + "pierfabre/pig3": { + 0: "Pick the pig and place it to the right." + }, + "Jiangeng/so100_413": { + 0: "Pick up the cube and place it on top of the black circle." + }, + "roboticshack/team9-pick_cube_place_static_plate": { + 0: "Pick up the green cube and place on orange plate." + }, + "AndrejOrsula/lerobot_double_ball_stacking_random": { + 0: "Stack the balls on top of each other." + }, + "roboticshack/left-arm-grasp-lego-brick": { + 0: "Grasp the lego brick and put it in the box." + }, + "roboticshack/team-7-left-arm-grasp-motor": { + 0: "Grasp the black motor and put it in the box." + }, + "pierfabre/cow2": { + 0: "Pick the cow and place it to the right." + }, + "pierfabre/sheep": { + 0: "Pick the sheep and place it to the right." + }, + "roboticshack/team9-pick_chicken_place_plate": { + 0: "Pick up the chicken and place on orange plate" + }, + "roboticshack/team13-two-balls-stacking": { + 0: "Stack the balls on top of each other." + }, + "tkc79/so100_lego_box_1": { + 0: "Grasp a lego block and put it in the box." + }, + "pierfabre/rabbit": { + 0: "Pick the rabbit and place it to the right.", + 1: "Pick the rabbit and put it to the right" + }, + "roboticshack/team13-three-balls-stacking": { + 0: "Stack the balls on top of each other." + }, + "pierfabre/horse": { + 0: "Pick the horse and place it to the right." + }, + "pierfabre/chicken": { + 0: "Pick the chicken and place it to the right." + }, + "roboticshack/team16-water-pouring": { + 0: "Pouring water from one cup to another cup" + }, + "ad330/cubePlace": { + 0: "Grasp white cube and place it in the bowl." + }, + "paszea/so100_lego_2cam": { + 0: "Grap lego blocks and put them in the plate." + }, + "bensprenger/chess_game_001_blue_stereo": { + 0: "Move the blue chess pieces to the highlighted squares." + }, + "Mohamedal/put_banana": { + 0: "Put the banana in the red bowl." + }, + "tkc79/so100_lego_box_2": { + 0: "Grasp a lego block and put it in the box." + }, + "samanthalhy/so100_herding_1": { + 0: "Grasp a green tool and herd all the particles to the grey bin." + }, + "jlesein/TestBoulon7": { + 0: "Pick up the bolt and put it on the plate." + }, + # V3 with VLM (Qwen-VL-2.5-instruct) annotation + "satvikahuja/mixer_on_off_new_1": {0: "Press the button on the blender."}, + "andy309/so100_0314_fold_cloths": {0: "fold the cloths, use two cameras, two arms."}, + "jchun/so100_pickplace_small_20250323_120056": {0: "Grasp items from white bowl and place in black tray"}, + "Ofiroz91/so_100_cube2bowl": {0: "placing cube inside a red bawl"}, + "ZCM5115/so100_1210": {0: "picks up the USB cable."}, + "francescocrivelli/carrot_eating": {0: "pick up carrot and bring to mouth"}, + "ZCM5115/so100_2Arm3cameras_movebox": {0: "Pick up the white box from the table."}, + "pranavsaroha/so100_carrot_1": {0: "pick a carrot and put it in the bin"}, + "pranavsaroha/so100_carrot_3": {0: "pick a carrot and put it in the bin"}, + "maximilienroberti/so100_lego_red_box": {0: "Placing the red Lego in the red box bin."}, "pranavsaroha/so100_squishy": {0: "pick a squishy and put it in the bin"}, "rabhishek100/so100_train_dataset": {0: "picks tape and places it in a cup."}, "pranavsaroha/so100_squishy100": {0: "pick a squishy and put it in the bin"}, "pandaRQ/pickmed": {0: "Place the green block on the table."}, "swarajgosavi/act_kikobot_pusht_real": {0: "picks up the red block."}, "pranavsaroha/so100_squishy2colors_1": {0: "pick the squishies and put them in the bins with their corresponding colors"}, "Chojins/chess_game_001_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "jmrog/so100_sweet_pick": {0: "Pick up the candy and place it in the bowl."}, "Chojins/chess_game_002_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "pranavsaroha/so100_squishy2colors_2_new": {0: "pick the squishies and put them in the bins with their corresponding colors"}, "Chojins/chess_game_003_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "Chojins/chess_game_004_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "Chojins/chess_game_005_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "Chojins/chess_game_006_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "Chojins/chess_game_007_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "koenvanwijk/blue52": {0: "places blue block on red LEGO piece."}, "jlitch/so100multicam7": {0: "pick up brick and put in bin"}, "vladfatu/so100_ds": {0: "Pick up the cube and place it in the box."}, "Chojins/chess_game_000_white": {0: "Move the blue chess pieces as indicated by the highlighted squares"}, "satvikahuja/orange_mixer_1": {0: "pick orange and place in mixer"}, "satvikahuja/mixer_on_off": {0: "switch the mixer on or off"}, "satvikahuja/orange_pick_place_new1": {0: "Pick up the orange and place it in the bowl."}, "satvikahuja/mixer_on_off_new": {0: "Adjust the s position."}, "FeiYjf/Makalu_push": {0: "Pick up the blue cube."}, "chmadran/so100_dataset04": {0: "picks the blue block and places it in the red cup."}, "FeiYjf/Maklu_dataset": {0: "Pick up the blue cube and place it on the paper."}, "FeiYjf/new_Dataset": {0: "Pick up the blue cube."}, "satvikahuja/mixer_on_off_new_4": {0: "Place the lid on the blender."}, "CSCSXX/pick_place_cube_1.17": {0: "Pick up the red block and place it in the box."}, "liyitenga/so100_pick_taffy3": {0: "Place the eraser in the container."}, "liyitenga/so100_pick_taffy6": {0: "Pick up the toy and place it in the purple cup."}, "yuz1wan/so100_pickplace": {0: "Pick the pink block and place it in the paper cup."}, "liyitenga/so100_pick_taffy7": {0: "Pick up the toy and place it in the box."}, "swarajgosavi/act_kikobot_block_real": {0: "Pick up the blue cube and place it in the box."}, "SeanLMH/so100_picknplace_v2": {0: "picks up blue cube and places it in yellow box."}, "DimiSch/so100_50ep_2": {0: "Place the yellow object in the bowl."}, "DimiSch/so100_50ep_3": {0: "Pick the yellow button from the table."}, "SeanLMH/so100_picknplace": {0: "Pick up the blue block and place it in the yellow box."}, "nbaron99/so100_pick_and_place2": {0: "picks up the white object."}, "chmadran/so100_dataset08": {0: "places blue block on paper."}, "Ityl/so100_recording1": {0: "Putting the red square onto the yellow piece"}, "ad330/so100_box_pickPlace": {0: "places jar in box."}, "carpit680/giraffe_task": {0: "Grasp a block and put it in the bin."}, "carpit680/giraffe_sock_demo_1": {0: "Grasp a sock off the floor."}, "DimiSch/so100_terra_50_2": {0: "Grasp a lego block and put it in the bin."}, "aractingi/push_cube_offline_data_cropped_resized": {0: "Push the green cube to the yellow sticker"}, "FeiYjf/Test_NNNN": {0: "Pick up the purple cube and move it to the right."}, "HITHY/so100_peach": {0: "Grasp a peach and put it in the bin."}, "zaringleb/so100_cube_4_binary": {0: "Grasp a lego block and put it in the bin."}, "FeiYjf/Grab_Pieces": {0: "places the black object on the table."}, "hegdearyandev/so100_eraser_cup_v1": {0: "picks up the red object."}, "jbraumann/so100_1902": {0: "picks up the yellow ball."}, "zaringleb/so100_cube_5_linear": {0: "Grasp a lego block and put it in the bin."}, "samsam0510/tape_insert_1": {0: "Grasp a red tape and put it on the box."}, "samsam0510/tape_insert_2": {0: "Grasp a red tape and put it in the yellow tape."}, "pengjunkun/so100_push_to_hole": {0: "Push the T into the hole."}, "Deason11/Random_Kitchen": {0: "Pick up the cup and place it on the table."}, "Loki0929/so100_100": {0: "Grasp a rubber duck and put it in the box."}, "speedyyoshi/so100_grasp_pink_block": {0: "Grasp a lego block and put it in the bin."}, "lirislab/green_lego_block_into_mug": {0: "pick the green block and place it in the red cup"}, "kevin510/lerobot-cat-toy-placement": {0: "Grasp the cat toy and put it in the cup."}, "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA_BOX": {0: "Move the cube to the right side of the table."}, "zijian2022/noticehuman5": {0: "picks up the box."}, "zijian2022/noticehuman70": {0: "Stop movement when human encounter testbed.", 1: "Stop movement when human encounter testbed w/ trigger."}, "Bartm3/tape_to_bin": {0: "Grasp a tape and put it in the bin."}, "Pi-robot/barbecue_flip": {0: "Pick up the orange cone and place it on the table."}, "Pi-robot/barbecue_put": {0: "Pick up the stick and place it in the grill."}, "sshh11/so100_orange_50ep_1": {0: "Grasp an orange object and put it in the bin."}, "sshh11/so100_orange_50ep_2": {0: "Grasp an orange object and put it in the bin."}, "DorayakiLin/so100_pick_cube_in_box": {0: "Pick up the red cube and put it in the box."}, "Bartm3/tape_to_bin2": {0: "Grasp a tape and put it in the bin."}, "andy309/so100_0311_1152": {0: "Grasp and put it in the bin."}, "sihyun77/suho_so100": {0: "Grasp a lego block and put it in the bin."}, "sihyun77/si_so100": {0: "Grasp a lego block and put it in the bin."}, "shreyasgite/so100_base_left": {0: "Grasp a lego block and put it in the bin."}, "sihyun77/suho_red": {0: "Grasp a lego block and put it in the bin."}, "liuhuanjim013/so100_block": {0: "Grasp a lego block and put it in the bin."}, "joaoocruz00/so100_makeitD1": {0: "Grasp a lego block and put it in the bin."}, "sihyun77/suho_angel": {0: "Grasp a lego block and put it in the bin."}, "sihyun77/sihyun_king": {0: "Grasp a lego block and put it in the bin."}, "acrampette/third_arm_01": {0: "Pick up the circuit board from the table."}, "Winster/so100_cube": {0: "Grasp a lego block and put it in the bin."}, "1g0rrr/sam_openpi03": {0: "Grasp a blue cube and put it in the gray box."}, "thedevansh/mar16_1336": {0: "Grasp a lego block and put it in the bin."}, "hkphoooey/throw_stuffie": {0: "Grab stuffed animal and throw it on the dot."}, "acrampette/third_arm_02": {0: "Pick up the tie and place it in the box."}, "kumarhans/so100_tape_task": {0: "Grasp a roll of tape and put it over the candle case."}, "Odog16/so100_tea_towel_folding_v1": {0: "Fold tea towel into quarters"}, "pietroom/first_task_short": {0: "Pick up the marker from the box."}, "zijian2022/c0": {0: "Grasp a lego block and put it in the bin based on color.", 1: "Grasp a lego block and put it in the bin."}, "1g0rrr/sam_openpi_solder1": {0: "bring contact to the pad on the board."}, "1g0rrr/sam_openpi_solder2": {0: "bring contact to the pad on the board."}, "bnarin/so100_tic_tac_toe_we_do_it_live": {0: "move tic tac toe as player 2."}, "chmadran/so100_home_dataset": {0: "Grasp a lego block and put it in the bin."}, "baladhurgesh97/so100_final_picking_3": {0: "Grasp a carrot, plastic bottle and put it in respective bins."}, "zaringleb/so100_cube_6_2d": {0: "Grasp a lego block and put it in the bin."}, "ZGGZZG/so100_drop1": {0: "Grasp a cube and put it in the right place."}, "abhisb/so100_51_ep": {0: "Pick up the cube and place it in the box."}, "allenchienxxx/so100Test": {0: "Grasp a lego block and put it in the bin."}, "lizi178119985/so100_jia": {0: "Grasp a lego block and put it in the bin."}, "andrewcole712/so100_tape_bin_place": {0: "Place the tape in the wooden box."}, "Gano007/so100_doliprane": {0: "Grasp a medic box and put it in the bin."}, "XXRRSSRR/so100_v3_num_episodes_50": {0: "Grasp a box and put it in the side."}, "Gano007/so100_gano": {0: "Grasp a box and put it in the bin."}, "paszea/so100_whale_grab": {0: "Grasp a whale and put it in the plate."}, "Clementppr/lerobot_pick_and_place_dataset_world_model": {0: "Grasp a fruit and put it in the cup."}, "RasmusP/so100_dataset50ep": {0: "Grasp a square block and put it in the box."}, "Gano007/so100_second": {0: "Grasp a yellow box and put it in the bin."}, "zaringleb/so100_cude_linear_and_2d_comb": {0: "Grasp a lego block and put it in the bin."}, "zijian2022/digitalfix3": {0: "Grasp a lego block and put it in the bin."}, "sihyun77/mond_13": {0: "Grasp a lego block and put it in the bin."}, "356c/so100_rope_reposition_1": {0: "Grasp rope and reposition."}, "paszea/so100_lego_mix": {0: "Grasp lego blocks and put them in the plate."}, "jiajun001/eraser00_2": {0: "picks tissue paper from box."}, "VoicAndrei/so100_banana_to_plate_rebel_full": {0: "Pick up the banana and place it on the place"}, "isadev/bougies1": {0: "Put the candles in the box."}, "sixpigs1/so100_pick_cube_in_box_error": {0: "Pick up the red cube and put it in the box with position offset when grasping.", 1: "Pick up the red cube and put it in the box with gripper error when grasping.", 2: "Pick up the red cube and put it in the box with position offset when releasing.", 3: "Pick up the red cube and put it in the box without errors."}, "sixpigs1/so100_push_cube_error": {0: "Push the blue cube to the red and white target with position offset when reaching.", 1: "Push the blue cube to the red and white target with position offset when pushing.", 2: "Push the blue cube to the red and white target with gripper error when pushing.", 3: "Push the blue cube to the red and white target without errors."}, "sixpigs1/so100_pull_cube_error": {0: "Pull the yellow cube to the red and white target with position offset when reaching.", 1: "Pull the yellow cube to the red and white target with position offset when pulling.", 2: "Pull the yellow cube to the red and white target with gripper error when pulling.", 3: "Pull the yellow cube to the red and white target without errors."}, "isadev/bougies2": {0: "grab the candle wick and place it in the tray."}, "therarelab/med_dis_rare_6": {0: "places green object in box."}, "sixpigs1/so100_pull_cube_by_tool_error": {0: "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when grasping.", 1: "Pick up the L-shaped tool and pull the purple cube by the tool with rotation offset when grasping.", 2: "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when grasping.", 3: "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when lowering.", 4: "Pick up the L-shaped tool and pull the purple cube by the tool with rotation offset when lowering.", 5: "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when pulling.", 6: "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when pulling.", 7: "Pick up the L-shaped tool and pull the purple cube by the tool without errors."}, "sixpigs1/so100_insert_cylinder_error": {0: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.", 1: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with gripper error when grasping.", 2: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with rotation offset when uprighting.", 3: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when inserting.", 4: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with choice error when inserting.", 5: "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf without errors."}, "lirislab/guess_who_no_cond": {0: "Place the card in the slot."}, "lirislab/guess_who_lighting": {0: "Pick up the card from the shelf."}, "nguyen-v/so100_press_red_button": {0: "The places the cube in the box."}, "nguyen-v/so100_bimanual_grab_lemon_put_in_box2": {0: "Grab the lemon with the black arm, then give it to the green arm, then place the lemon in the cardboard box with the green arm."}, "nguyen-v/press_red_button_new": {0: "Press the red button with the black arm"}, "nguyen-v/so100_rotate_red_button": {0: "Rotate the red button clockwise with the black arm"}, "roboticshack/team10-red-block": {0: "Pick a red lego block and move it to the right."}, "Cidoyi/so100_all_notes_1": {0: "Connect the cable to the device."}, "roboticshack/team11_pianobot": {0: "Point at the keyboard."}, "roboticshack/team2-guess_who_so100": {0: "Pick up the card from the shelf."}, "roboticshack/team2-guess_who_so100_light": {0: "Place the card in the slot."}, "roboticshack/team2-guess_who_less_ligth": {0: "Pick up the card and place it in the slot."}, "jiajun001/eraser00_3": {0: "Pick up the white object from the table."}, + "Setchii/so100_grab_ball": {0: "Grasp a ball and put it on a goblet."}, + # V4 with VLM annotation + 'ctbfl/sort_battery': {0: 'put the battery into battery_box'}, 'lerobot/aloha_static_screw_driver': {0: 'Pick up the screwdriver with the right arm, hand it over to the left arm then place it into the cup.'}, 'lerobot/aloha_static_candy': {0: 'Pick up the candy and unwrap it.'}, 'lerobot/aloha_mobile_wipe_wine': {0: 'Pick up the wet cloth on the faucet and use it to clean the spilled wine on the table and underneath the glass.'}, 'lerobot/aloha_static_coffee': {0: "Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray, then push the 'Hot Water' and 'Travel Mug' buttons."}, 'lerobot/aloha_static_towel': {0: 'Pick up a piece of paper towel and place it on the spilled liquid.'}, 'lerobot/aloha_static_vinh_cup': {0: 'Pick up the platic cup with the right arm, then pop its lid open with the left arm.'}, 'lerobot/aloha_static_vinh_cup_left': {0: 'Pick up the platic cup with the left arm, then pop its lid open with the right arm.'}, 'lerobot/aloha_static_ziploc_slide': {0: 'Slide open the ziploc bag.'}, 'lerobot/aloha_static_coffee_new': {0: 'Place the coffee capsule inside the capsule container, then place the cup onto the center of the cup tray.'}, 'lerobot/aloha_static_cups_open': {0: 'Pick up the plastic cup and open its lid.'}, 'lerobot/aloha_static_pro_pencil': {0: 'Pick up the pencil with the right arm, hand it over to the left arm then place it back onto the table.'}, 'lerobot/aloha_mobile_wash_pan': {0: 'Pick up the pan, rinse it in the sink and then place it in the drying rack.'}, 'lerobot/aloha_mobile_cabinet': {0: 'Open the top cabinet, store the pot inside it then close the cabinet.'}, 'lerobot/aloha_mobile_chair': {0: 'Push the chairs in front of the desk to place them against it.'}, 'lerobot/aloha_mobile_elevator': {0: 'Take the elevator to the 1st floor.'}, 'aliberts/koch_tutorial': {0: 'Pick the Lego block and drop it in the box on the right.'}, 'underctrl/single-block_multi-color_pick-up_50': {0: 'Pick single block of multi-color and drop it in the box on the right.'}, 'underctrl/single-block_blue-color_pick-up_80': {0: 'Pick single block of multi-color and drop it in the box on the right.'}, 'underctrl/mutli-stacked-block_mutli-color_pick-up_80': {0: 'Pick single block of multi-color and drop it in the box on the right.'}, 'underctrl/single-stacked-block_two-color_pick-up_80': {0: 'Pick single block of multi-color and drop it in the box on the right.'}, 'underctrl/single-stacked-block_mutli-color_pick-up_80': {0: 'Pick single block of multi-color and drop it in the box on the right.'}, 'underctrl/handcamera_single_blue': {0: 'Pick the Lego block and drop it in the box on the right.'}, 'cmcgartoll/cube_color_organizer': {0: 'Organize blue cube', 1: 'Organize red cube', 2: 'Organize yellow cube'}, 'T-K-233/koch_k1_pour_shot': {0: 'Place the glass on the table.'}, 'Beegbrain/stack_2_cubes': {0: 'picks up the red block.'}, 'seeingrain/pick_place_lego': {0: 'Place the cube in the basket.'}, 'seeingrain/pick_place_lego_wider_range_richard': {0: 'Pick up the blue cube and place it in the basket.'}, 'seeingrain/pick_place_lego_wider_range_dang': {0: 'Pick up the cube and place it in the basket.'}, 'seeingrain/pick_place_lego_wider_range_dong': {0: 'Pick up the blue object and place it in the basket.'}, 'seeingrain/pick_lego_to_hand': {0: 'places blue object on table.'}, 'seeingrain/pick_place_pink_lego': {0: 'Pick up the red cube and place it in the basket.'}, 'seeingrain/pick_place_pink_lego_few_samples': {0: 'pick_place_pink_lego_few_samples '}, 'seeingrain/one_shot_learning_18episodes': {0: 'Pick up the red block and place it in the basket.'}, 'helper2424/hil-serl-push-circle-classifier': {0: 'Push small circle object to the correct position'}, 'seeingrain/lego_3cameras': {0: 'Pick up the red block and place it in the basket.'}, 'Lugenbott/koch_1225': {0: 'Pick up the blue block and place it in the red box.'}, 'twerdster/koch_training_red': {0: 'Pick up the red block.'}, 'dboemer/koch_50-samples': {0: 'Pick up the red block and place it on top of the yellow box.'}, 'seeingrain/241228_pick_place_2cams': {0: 'Place the cube in the basket.'}, 'Eyas/grab_pink_lighter_10_per_loc': {0: 'Pick up the pink object from the table.'}, 'Eyas/grab_bouillon': {0: 'picks up the box and places it in the box.'}, 'twerdster/koch_new_training_red': {0: 'move red cube into cellotape circle'}, 'andabi/shoes_easy': {0: 'picks up the shoe.'}, 'andabi/D2': {0: 'Pick up the shoe and place it on the table.'}, 'Beegbrain/oc_stack_cubes': {0: 'stack the red cube on the blue cube'}, 'abougdira/cube_target': {0: 'put_the cube on the yellow target'}, 'andabi/D3': {0: 'picks up the shoe.'}, 'andabi/D4': {0: 'picks up the shoe.'}, 'andabi/D5': {0: 'places shoe on table.'}, 'andabi/D6': {0: 'picks up the shoe.'}, 'andabi/D7': {0: 'picks up the shoe.'}, 'jainamit/koch_realcube3': {0: 'pick up the cube real with keyboard input'}, 'jainamit/koch_pickcube': {0: 'Pick up the blue cube and place it in the box.'}, 'andabi/D8': {0: 'picks up the shoe.'}, 'andabi/D9': {0: 'The picks up the paper and places it on the table.'}, 'andabi/D10': {0: 'picks up the shoe.'}, 'andabi/D11': {0: 'The picks up the paper and places it on the table.'}, 'andabi/D12': {0: 'The places the cube in the box.'}, 'andabi/D13': {0: 'picks up shoes.'}, 'andabi/D14': {0: 'picks up shoes.'}, 'andabi/D15': {0: 'picks up the shoe.'}, 'rgarreta/koch_pick_place_lego': {0: 'Pick the Lego block and drop it in the box on the right.'}, 'shin1107/koch_train_block': {0: 'Grasp a block and put it in the hole.'}, 'andabi/D16': {0: 'picks up the shoe.'}, 'TrossenRoboticsCommunity/aloha_fold_tshirt': {0: 'Fold the t-shirt.'}, 'rgarreta/koch_pick_place_lego_v2': {0: 'Pick the Lego block and drop it in the box on the right.'}, '1g0rrr/screw1': {0: 'Grasp a lego block and put it in the bin.'}, 'ncavallo/moss_train_grasp': {0: 'Grasp a lego block and put it in the bin.'}, 'andabi/D17': {0: 'picks up the shoe.'}, 'ma3oun/rpi_squares_1': {0: 'Raspberry Pi 5 squares recording 1'}, 'shin1107/koch_move_block_with_some_shapes': {0: 'Grasp a block and put it in the hole with some shapes.'}, 'jannick-st/classifier': {0: 'Move the blue object to the right side of the table.'}, 'rgarreta/koch_pick_place_lego_v3': {0: 'Pick the Lego block and drop it in the box on the right. Top and wrist cameras.'}, 'TrossenRoboticsCommunity/aloha_stationary_logo_assembly': {0: 'Assemble the Trossen Robotics Logo.'}, 'rgarreta/koch_pick_place_lego_v6': {0: 'Grasp a lego block and put it in the bin.'}, 'Beegbrain/put_green_into_blue_bin': {0: 'Put the green cube into the blue bin'}, 'Beegbrain/put_screwdriver_box': {0: 'Put the screwdriver into the box'}, 'Beegbrain/align_three_pens': {0: 'picks up a pen.'}, 'Beegbrain/stack_green_on_blue_cube': {0: 'Stack the blue cube on top of the green cube'}, 'Beegbrain/align_cubes_green_blue': {0: 'Put the green cubes on the left and the blue cube on the right'}, 'IPEC-COMMUNITY/ucsd_kitchen_dataset_lerobot': {0: 'Turn on the faucet', 1: 'Put the bowl inside the kitchen cabinet', 2: 'Open the oven door', 3: 'Place the teapot on the stove', 4: 'Put the white box into the sink', 5: 'Open the carbinet door', 6: 'Put the green box into the sink', 7: 'Put the canned spam into the sink'}, 'dkdltu1111/omx-bottle1': {0: 'Grasp a lego block and put it in the bin.'}, 'rgarreta/koch_pick_place_lego_v7': {0: 'Grasp a lego block and put it in the bin.'}, 'rgarreta/koch_pick_place_lego_v8': {0: 'Grasp a lego block and put it in the bin.'}, 'IPEC-COMMUNITY/berkeley_mvp_lerobot': {0: 'push wooden cube', 1: 'pick detergent from the sink', 2: 'reach red block', 3: 'pick yellow cube', 4: 'close fridge door', 5: 'pick fruit'}, 'BlobDieKatze/GrabBlocks': {0: 'Grasp a lego block and put it in the bin.'}, 'Yuanzhu/koch_bimanual_grasp_0': {0: 'places the yellow block on the mousepad.'}, 'Yuanzhu/koch_bimanual_grasp_3': {0: 'picks up a yellow block.'}, 'takuzennn/aloha-pick100': {0: 'arm pick pen and put it into the cup'}, 'abbyoneill/pusht': {0: 'Grasp a lego block and put it in the bin.'}, 'ncavallo/moss_train_grasp_new': {0: 'Grasp a lego block and put it in the bin.'}, 'mlfu7/pi0_conversion_no_pad_video': {0: 'pickplace deer greybowl', 1: 'stack red on green', 2: 'stack orange cup to yellow cup', 3: 'put orange cup into yellow cup', 4: 'put push red pen to blue pen', 5: 'put tiger to black bowl', 6: 'put potato in bot to black bowl', 7: 'pick up green triangle', 8: 'put push blue pen to red pen', 9: 'close drawer', 10: 'put push green block to red', 11: 'pickup potato', 12: 'open drawer', 13: 'put closing tongs', 14: 'poke block', 15: 'put push blue cube', 16: 'poke tiger', 17: 'pick red cube into black bowl', 18: 'pick blue cube stack on wood block', 19: 'pick blue cube into grey bowl', 20: 'put red ball in black bowl', 21: 'pick green triangle into pink bowl', 22: 'pick red ball into pink bowl', 23: 'poke green triangle', 24: 'poke grey bowl', 25: 'put blue cube pink bowl', 26: 'put red cube into black bowl', 27: 'put deer into gray bowl', 28: 'put red ball into pink bowl', 29: 'put green triangle into pink bowl', 30: 'put pour from yellow cup into black bowl', 31: 'put pour blue cup into pink bowl', 32: 'put brown cube into gray bowl'}, 'pepijn223/lekiwi_pen': {0: 'Fold the jeans.'}, 'TrossenRoboticsCommunity/aloha_baseline_dataset': {0: 'Pick up a blue block and put it in a green bowl. Baseline dataset for testing'}, 'KeWangRobotics/piper_rl_1': {0: 'Pick up the cube and place it in the box.'}, 'nduque/cam_setup2': {0: 'Grasp a green block and put it in the bin.'}, 'KeWangRobotics/piper_rl_1_cropped_resized': {0: 'picks up the cube.'}, 'abbyoneill/new_dataset_pick_place': {0: 'Grasp a lego block and put it in the bin.'}, 'abbyoneill/thurs1120pickplace': {0: 'Grasp a lego block and put it in the bin.'}, 'abbyoneill/data_w_mug': {0: 'Grasp a lego block and put it in the bin.'}, 'pepijn223/lekiwi_drive_in_circle': {0: 'Pick up the red object and place it on the table.'}, 'pepijn223/lekiwi_block_cleanup2': {0: 'Put red block in black box'}, 'KeWangRobotics/piper_rl_2': {0: 'Move the cube to the right side of the table.'}, 'KeWangRobotics/piper_rl_2_cropped_resized': {0: 'Move the block to the right side of the table.'}, 'hannesill/koch_pnp_simple_50': {0: 'Grasp a small block with a specific orientation and put it in the bin with a specific position and orientation.'}, 'KeWangRobotics/piper_rl_3': {0: 'Pick up the wooden block.'}, 'KeWangRobotics/piper_rl_3_cropped_resized': {0: 'Place the block in the box.'}, 'hannesill/koch_pnp_2_blocks_2_bins_200': {0: 'Grasp the blue block first and put it in the first bin that has a specific position and orientation. Then grasp the white block and put it in the second bin that has a specific position and orientation.'}, 'ellen2imagine/pusht_green1': {0: 'Place the green block in the box.'}, 'imatrixlee/koch_place': {0: 'Pick up the white object and place it on the table.'}, 'ellen2imagine/pusht_green_same_init2': {0: 'Place the green block in the correct position.'}, 'KeWangRobotics/piper_rl_4': {0: 'Move the block slightly.'}, 'KeWangRobotics/piper_rl_4_cropped_resized': {0: 'picks the wooden block.'}, 'lalalala0620/koch_blue_paper_tape': {0: 'Grasp a blue paper tape and put it in the bin.'}, 'nduque/act_50_ep': {0: 'Grasp a green block and put it in the bin.'}, 'nduque/act_50_ep2': {0: 'Grasp a green block and put it in the bin.'}, 'HWJ658970/fat_fish': {0: 'Grasp a fat fish toy and put it in the bin.'}, 'Beegbrain/put_red_triangle_green_rect': {0: 'Put the red triangle on top of the green rectangle'}, 'ncavallo/moss_train_gc_block': {0: 'Grasp a lego block and put it in the bin.'}, 'takuzennn/square3': {0: 'Pick the cube from the table.'}, 'HWJ658970/lego_50': {0: 'Grasp a yellow lego block and put it in the bin.'}, 'Deason11/mobile_manipulator_0319': {0: 'Grasp a lego block and put it in the bin.'}, 'Gongsta/grasp_duck_in_cup': {0: 'Grasp the rubber duck and put it in the cup.'}, 'nduque/robustness_e2': {0: 'Grasp a green dice and put it in the bin.'}, 'ibru/bobo_trash_collector': {0: 'Bobo Trash collect and place it in a bin'}, 'Beegbrain/moss_open_drawer_teabox': {0: 'Open the top drawer of the teabox'}, 'Beegbrain/moss_put_cube_teabox': {0: 'Put the green cube in the top drawer of the teabox'}, 'Beegbrain/moss_close_drawer_teabox': {0: 'Close the top drawer of the teabox'}, 'Beegbrain/moss_stack_cubes': {0: 'Stack the green cube on top of the blue cube'}, 'HWJ658970/lego_50_camera_change': {0: 'Grasp a yellow lego block and put it in the bin.'}, 'HWJ658970/lego_100_class': {0: 'Separate yellow and white Lego blocks and place them into the bin.'}, 'nduque/robustness_e3': {0: 'Grasp a green dice and put it in the bin.'}, 'nimitvasavat/Gr00t_lerobot': {0: 'Place the cereal box on the shelf.'}, 'Deason11/mobile_manipulator_0326': {0: 'Grasp a lego block and put it in the bin.', 1: 'mobile_lekiwi.'}, 'KeWangRobotics/piper_push_cube_gamepad_1': {0: 'push the cube to the black area'}, 'KeWangRobotics/piper_push_cube_gamepad_1_cropped_resized': {0: 'push the cube to the black area'}, 'jannick-st/push-cube-classifier_cropped_resized': {0: 'Close the cabinet door.'}, 'nimitvasavat/Gr00t_lerobotV2': {0: 'Place the chocolate chip cookie dough box on the table.'}, 'Zhaoting123/koch_cleanDesk_': {0: 'Grasp a card and use it to clean the desk'}, 'arclabmit/koch_gear_and_bin': {0: 'Pick the gear and place it in the bin.'}, 'Allen-488/koch_dataset_50': {0: 'Grasp a block and put it in the bin.'}, 'dop0/koch_pick_terminal': {0: 'Pick up the terminal and place on the cover.'}, 'nduque/robustness_e4': {0: 'Grasp a green dice and put it in the bin.'}, 'arclabmit/Koch_twoarms': {0: 'official two arms recordings10'}, 'nimitvasavat/Gr00t_lerobot_state_action': {0: 'Place the chocolate chip cookie dough box on the table.'}, 'zliu157/i3r': {0: 'Grasp a lego block and put it in the bin.'}, 'hangwu/koch_pick_terminal': {0: 'Pick up the terminal and place on the cover.'}, 'nduque/robustness_e5': {0: 'Grasp a green dice and put it in the bin.'}, 'zliu157/i3r2': {0: 'Grasp a i3r logo and put it in the bin.'}, 'HuaihaiLyu/groceries': {0: 'Pick the brown long bread and Egg yolk pasry into package'}, 'zliu157/i3r3': {0: 'Grasp a i3r logo and put it in the bin.'}, 'hangwu/piper_pick_terminal_and_place': {0: 'Grasp a terminal and put it on the black box.'}, 'hangwu/piper_pick_terminal_2': {0: 'Grasp the white terminal and put it on the green lid.'}, 'engineer0002/pepper': {0: 'Place the bottle on the table.'}, 'theo-michel/lekiwi_v2': {0: 'Pick up the can on the ground'}, 'theo-michel/lekiwi_v5': {0: 'Pick up the can on the ground'}, 'roboticshack/sandee-kiwiv10': {0: 'Place the bottle on the table.'}, 'ibru/bob_jetson': {0: 'Drive forward pickup the object and put it in the red box and drive back.'}, 'ibru/bobo_jetson': {0: 'Drive forward pickup the object and put it in the red box and drive back.', 1: 'Driver forward'}, 'zliu157/i3r5': {0: 'Grasp a i3r logo and put it in the bin.'}, 'Dongkkka/cable_pick_and_place2': {0: 'Put a black charging cable in a black bowl and put a red charging cable in a green bowl'}, + + +}