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global_episode_id string | metadata dict | frame_index string | dense_kinematic_progress string | semantic_anchors list |
|---|---|---|---|---|
ARX-data/human-data-1128/20251125-041142-good-medicine bottle-rice cooker/videos/chunk-000/observation.images.front/episode_000006 | {
"dataset_type": "ARX",
"chunk_id": "chunk-000",
"original_episode_id": "episode_000006",
"main_path": "ARX-data/human-data-1128/20251125-041142-good-medicine bottle-rice cooker/videos/chunk-000/observation.images.front/episode_000006",
"task_instruction": "把药瓶放进电饭锅内胆里",
"task_description": "把药瓶放进电饭锅内胆里\n爪... | {"0":{"front":"__VLAC2_FRAMES_ROOT__\/ARX-data\/human-data-1128\/20251125-041142-good-medicine bottle-rice cooker\/videos\/chunk-000\/observation.images.front\/episode_000006\/0-377.jpg"},"1":{"front":"__VLAC2_FRAMES_ROOT__\/ARX-data\/human-data-1128\/20251125-041142-good-medicine bottle-rice cooker\/videos\/chunk-000\... | {"0":0.0,"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0,"8":0.0,"9":0.0,"10":0.0,"11":0.0,"12":0.0,"13":0.0,"14":0.0,"15":0.0,"16":0.0,"17":0.0,"18":0.0,"19":0.0,"20":0.0,"21":0.0,"22":0.0,"23":0.0,"24":0.0,"25":0.0,"26":0.0,"27":0.0,"28":0.0,"29":0.0,"30":0.0,"31":0.0,"32":0.0,"33":0.0,"34":0.0,"35":0.0,"36":... | [
{
"frame": 79,
"human_annotated_progress": 0,
"action_description": "爪夹保持张开状态，准备移动。",
"state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。为完成夹起药瓶使其放入白色托盘的任务应当:爪夹竖直上升，调整角度，然后向爪夹方向的右前方向移动，接近药瓶，准备抓取药瓶。",
"progress_explanation": "当前爪夹并没有任何动作，因此任务进度为0.",
"error_success_analysis": "",
"correction_plan... |
ARX-data/human-data-1128/20251124-142701-bad-chilli/videos/chunk-000/observation.images.front/episode_000013 | {
"dataset_type": "ARX",
"chunk_id": "chunk-000",
"original_episode_id": "episode_000013",
"main_path": "ARX-data/human-data-1128/20251124-142701-bad-chilli/videos/chunk-000/observation.images.front/episode_000013",
"task_instruction": "把辣椒夹起来放进盘子里",
"task_description": "把辣椒夹起来放进盘子里\n爪夹开始移动:0\n爪夹接近辣椒:20%\n爪... | {"0":{"front":"__VLAC2_FRAMES_ROOT__\/ARX-data\/human-data-1128\/20251124-142701-bad-chilli\/videos\/chunk-000\/observation.images.front\/episode_000013\/0-400.jpg"},"1":{"front":"__VLAC2_FRAMES_ROOT__\/ARX-data\/human-data-1128\/20251124-142701-bad-chilli\/videos\/chunk-000\/observation.images.front\/episode_000013\/1... | {"0":0.0,"1":0.0,"2":0.0,"3":0.0,"4":0.0,"5":0.0,"6":0.0,"7":0.0,"8":0.0,"9":0.0,"10":0.0,"11":0.0,"12":0.0,"13":0.0,"14":0.0,"15":0.0,"16":0.0,"17":0.0,"18":0.0,"19":0.0,"20":0.0,"21":0.0,"22":0.0,"23":0.0,"24":0.0,"25":0.0,"26":0.0,"27":0.0,"28":0.0,"29":0.0,"30":0.0,"31":0.0,"32":0.0,"33":0.0,"34":0.0,"35":0.0,"36":... | [
{
"frame": 77,
"human_annotated_progress": 0,
"action_description": "爪夹保持张开状态，准备移动。",
"state_description": "当前状态为爪夹打开，没有移动，没有接触辣椒，为完成夹起辣椒使其放入盘子的任务，应当:爪夹竖直上升，调整爪夹角度使其垂直于桌面，然后向爪夹方向的左前方移动，接近辣椒。",
"progress_explanation": "目前爪夹处于初始状态，尚未移动。",
"error_success_analysis": "",
"correction_plan": "爪... |
"ARX-data/human-data-1128/20251124-155207-bad-eggplant/videos/chunk-000/observation.images.front/epi(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000017","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251124-155207-bad-eggpla(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":44,"human_annotated_progress":0,"action_description":"爪夹保持张开状态，准备移(...TRUNCATED) |
"ARX-data/human-data-1128/20251124-104824-bad-cucumber/videos/chunk-000/observation.images.front/epi(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000022","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251124-104824-bad-cucumb(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":75,"human_annotated_progress":0,"action_description":"爪夹保持张开状态，准备移(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-112529-bad-rubbish/videos/chunk-000/observation.images.front/epis(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000008","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-112529-bad-rubbis(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":48,"human_annotated_progress":0,"action_description":"爪夹张开，爪夹准备移动。(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-145601-good-bottles-white-tray/videos/chunk-000/observation.image(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000009","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-145601-good-bottl(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":64,"human_annotated_progress":0,"action_description":"爪夹张开，准备移动。","sta(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/videos/chunk-000/obse(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000007","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-051152-good-medic(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":55,"human_annotated_progress":0,"action_description":"爪夹保持张开，准备开始移(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-032157-good-medicine bottle-white tray/videos/chunk-000/observati(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000000","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-032157-good-medic(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":37,"human_annotated_progress":0,"action_description":"爪夹保持张开状态，准备开(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/videos/chunk-000/observation.images(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000001","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-150627-bad-bottle(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":70,"human_annotated_progress":0,"action_description":"爪夹保持张开状态，暂未移(...TRUNCATED) |
"ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/videos/chunk-000/observati(...TRUNCATED) | {"dataset_type":"ARX","chunk_id":"chunk-000","original_episode_id":"episode_000007","main_path":"ARX(...TRUNCATED) | "{\"0\":{\"front\":\"__VLAC2_FRAMES_ROOT__\\/ARX-data\\/human-data-1128\\/20251125-044346-bad-medici(...TRUNCATED) | "{\"0\":0.0,\"1\":0.0,\"2\":0.0,\"3\":0.0,\"4\":0.0,\"5\":0.0,\"6\":0.0,\"7\":0.0,\"8\":0.0,\"9\":0.(...TRUNCATED) | [{"frame":42,"human_annotated_progress":0,"action_description":"当前爪夹张开，爪夹准备移(...TRUNCATED) |
End of preview.
VLAC-Cut-FullData
VLAC-Cut-FullData is the full-data release for VLAC-Cut. It provides the complete raw-data archive set, benchmark-style JSON files, and a lightweight frame-extraction workflow for reproducing evaluation on the released benchmark protocol.
Contents
benchmark_style_all/
train/video_progress_benchmark_file.json
test_expert_seen/video_progress_benchmark_file.json
test_expert_unseen/video_progress_benchmark_file.json
test_nonexpert_seen/video_progress_benchmark_file.json
test_nonexpert_unseen/video_progress_benchmark_file.json
all/video_progress_benchmark_file.json
scripts/
unpack_data.sh
extract_vlac2_release_frames.py
annotation_files_raw/
0106/
0109/
0116/
1231/
dataset_ver/
hfx_project-1/
refine_data/
data/
vlac2_release_data_part01_arx_group_a.tar.zst.part-*
vlac2_release_data_part02_arx_group_b.tar.zst.part-*
vlac2_release_data_part03_arx_group_c.tar.zst.part-*
vlac2_release_data_part04_droid_group_a.tar.zst.part-*
vlac2_release_data_part05_droid_group_b.tar.zst.part-*
vlac2_release_data_part06_droid_group_c.tar.zst.part-*
vlac2_release_data_part07_other_sources.tar.zst
Usage
1. Unpack the raw-data archives
bash scripts/unpack_data.sh /path/to/data
Several large archives are distributed as multi-part files to satisfy Hub file-size limits. unpack_data.sh detects these parts automatically and streams them into a single extraction pass.
2. Extract frames
To extract frames only for one or more selected benchmark JSON files:
python scripts/extract_vlac2_release_frames.py \
--data-root /path/to/data \
--frames-root /path/to/data_extracted_frames \
--benchmark-json benchmark_style_all/test_expert_seen/video_progress_benchmark_file.json
This decodes only the episodes referenced by the provided benchmark JSON file(s), rather than scanning the full raw-data release.
If --benchmark-json is omitted, the extractor scans all benchmark JSON files under benchmark_style_all/, collects all referenced records, and extracts the corresponding main_path videos:
python scripts/extract_vlac2_release_frames.py \
--data-root /path/to/data \
--frames-root /path/to/data_extracted_frames
3. Use the benchmark JSON files
Frame paths in the benchmark JSON files use the prefix:
__VLAC2_FRAMES_ROOT__/
Replace __VLAC2_FRAMES_ROOT__ with the absolute path to the extracted-frame directory.
Notes
- This release contains the complete raw-data archive set used by the VLAC-Cut benchmark release workflow.
annotation_files_raw/mirrors the original raw annotation JSON tree used during benchmark construction.- The
benchmark_style_all/allsplit is larger than the benchmark evaluation subsets and is rebuilt from the full annotation PKL source tree. - The benchmark JSON files are pre-generated and do not need to be rebuilt for standard use.
- The large raw-data archives are distributed as split
.part-*files indata/; these are unpacked transparently by the provided script.
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