ego2robot data gallery

TL;DR

ALOHA / UR5e export에서 seed 0로 층화 샘플한 episode 56개 (accepted 44, rejected 12, 총 3.4분)를 영상으로 보여줌.
데이터셋 크기: ALOHA 245 ep (_phys 164) · UR5e 369 ep (_phys 266).
각 영상: 위 header(메타데이터) · 3분할(사람 원본 | 학습이 보는 데이터셋 이미지 | physics replay) · 아래 timeline(frame별 flag와 gripper state/action, 흰 cursor가 현재 frame).

영상

accepted 샘플

rejected 샘플

245

ALOHA episodes

369

UR5e episodes

1 영상 읽는 법

① 사람 원본 (H2O)
H2O cam4 원본 frame (640×360). physics 구간 안에서는 GT 물체 이동/높이도 표시.

② 데이터셋 이미지
export의 observation.images.ego episode 영상을 decode한 그대로 (학습이 보는 이미지). rejected 후보는 export되지 않았으므로 work dir의 composite.mp4를 빨간 테두리로 표시.

③ physics replay
dataset action을 MuJoCo 트윈에서 재생한 결과를 어둡게 한 실제 frame 위에 그림. 초록 ghost = GT 물체, 빨강 ghost = 로봇 없이 둔 물체.

위 header: 로봇 · sequence · episode key · task · label source · split · 길이 / accept 여부와 reject 사유 · _phys 포함 여부 / physics 판정과 실패 원인 · 관통/grasp/frame_bad/ik_transition 비율.

아래 timeline (episode 전체, 흰 cursor = 현재 frame)

frame_bad: aux.frame_bad — 그 frame의 실패(IK 실패, 충돌, 테이블 관통, 손이 물체 안 등)의 합집합
obj_penetr. L: aux.object_penetration[left] — 도달한 로봇 손이 물체 안으로 2 mm 넘게 들어간 frame
obj_penetr. R: aux.object_penetration[right]
grasp L: aux.grasp[left] — gripper가 물체를 잡고 squeeze하는 frame
grasp R: aux.grasp[right]
ik_transition L: aux.ik_transition[left] — IK 복구용 joint-space transition frame
ik_transition R: aux.ik_transition[right]
unsupported: aux.object_unsupported — 물체가 30 mm 넘게 들렸는데 어느 gripper도 잡고 있지 않은 frame (규칙 R3: 5 frame 연속이면 episode 제외)
physics replay: physics replay 구간 (밝음: 물체 GT pose 있음, 어두움: 없음). 구간 밖에서는 3번째 패널이 어둡게 표시됨
gripper L/R: state(실제 도달 opening, 0~1) · action(명령). 물체를 잡는 동안 action이 state보다 작음 (squeeze).

accepted episode의 timeline은 export parquet 값이고, work dir에서 다시 계산한 값과 일치함을 렌더링 때 확인함 (최대 차이 0).

2 데이터셋 요약

ALOHA · `/home/nas_main/taewoongkang/Dataset/H2O_ego2robot/aloha/lerobot/h2o_ego2robot_aloha_v21`

기본 export

245 ep / 24,253 frame

_phys export (L4)

164 ep / 14,721 frame

후보 → accept

933 → 245

reject

688

label (accepted)

gt 171, vlm 74

split (accepted)

train 133, val 38, test 74

physics (accepted)

fail 77, success 168

관통 flag (accepted)

no 209, yes 36

샘플

accepted 22 + rejected 6

reject 사유 분포 (한 후보가 여러 사유를 가질 수 있음): L1 other 616, L1 ik_fail 196, L1 object collision 66, L3 VLM 23, L2 gripper rate 18, L2 z-score 2

물체	dataset ep	샘플 accepted	샘플 rejected
book	33	3	0
chips	2	2	0
espresso	61	5	1
lotion	83	6	1
milk	1	1	0
spray	65	5	2

동사	dataset ep	샘플 accepted	샘플 rejected
apply	19	2	2
close	10	2	0
grab	54	4	1
open	20	2	0
place	76	2	1
put in	10	2	1
read	30	2	0
spray	6	2	0
squeeze	7	2	0
take out	13	2	1

UR5e · `/home/nas_main/taewoongkang/Dataset/H2O_ego2robot/ur5e/lerobot/h2o_ego2robot_ur5e_v21`

기본 export

369 ep / 32,212 frame

_phys export (L4)

266 ep / 24,047 frame

후보 → accept

933 → 369

reject

564

label (accepted)

gt 267, vlm 102

split (accepted)

train 213, val 54, test 102

physics (accepted)

fail 98, success 271

관통 flag (accepted)

no 334, yes 35

샘플

accepted 22 + rejected 6

reject 사유 분포 (한 후보가 여러 사유를 가질 수 있음): L1 other 444, L1 ik_fail 345, L1 object collision 174, L3 VLM 12, L2 z-score 10, L2 gripper rate 3

물체	dataset ep	샘플 accepted	샘플 rejected
book	19	3	0
chips	69	2	1
cocoa	50	3	1
espresso	43	3	1
lotion	77	5	1
milk	64	3	1
spray	47	3	0

동사	dataset ep	샘플 accepted	샘플 rejected
apply	14	2	0
close	32	2	0
grab	61	3	1
open	42	2	1
place	135	3	0
pour	4	1	1
put in	20	2	0
read	13	2	1
spray	6	2	0
squeeze	5	1	1
take out	37	2	1

3 샘플 선택

로봇마다 seed 0의 층화 샘플. accepted: 물체 · 동사 · label source(gt/vlm) · split · physics 성공/실패 · 관통 flag · 길이(짧음/중간/긺, accepted 길이 3분위)의 모든 값을 먼저 덮고, 이후 가장 덜 나온 값 위주로 채움 (physics 실패 원인과 moved/static도 가중치 0.5로 균형). rejected: reject 사유 범주(L1 ik_fail, L1 object collision, L2, L3 VLM, ...)를 돌아가며 하나씩 고름 (첫 바퀴는 그 사유 하나로만 reject된 후보 우선).

4 갤러리

로봇

accept 여부

물체

동사

physics

관통 flag

split

label

표시 중: 56 / 56 episode

grab the lotion #aloha_subject1_h2_3_744-801

ALOHAacceptedphysics fail · knocked_phys 제외train · gt

subject1/h2/3 · frame 744–801 (58 frame, 1.9 s) · export episode 26 · object_penetration L 0% / R 0% · grasp L 0% / R 7% · frame_bad 0%

take out the espresso #aloha_subject4_o1_7_118-189

ALOHAacceptedphysics success_phys 포함관통 flag 26%test · vlm

subject4/o1/7 · frame 118–189 (72 frame, 2.4 s) · export episode 233 · object_penetration L 26% / R 0% · grasp L 0% / R 60% · frame_bad 26%

apply the spray #aloha_subject3_o1_5_348-662

ALOHAacceptedphysics success_phys 포함val · gt

subject3/o1/5 · frame 348–662 (315 frame, 10.5 s) · export episode 156 · object_penetration L 0% / R 0% · grasp L 0% / R 0% · frame_bad 0%

place the book #aloha_subject4_h1_2_12-103

ALOHAacceptedphysics fail · tracking_phys 제외test · vlm

subject4/h1/2 · frame 12–103 (92 frame, 3.1 s) · export episode 171 · object_penetration L 0% / R 0% · grasp L 29% / R 28% · frame_bad 0%

open the milk #aloha_subject4_h2_1_84-266

ALOHAacceptedphysics success_phys 제외관통 flag 50%test · vlm

subject4/h2/1 · frame 84–266 (183 frame, 6.1 s) · export episode 183 · object_penetration L 39% / R 43% · grasp L 0% / R 0% · frame_bad 50%

read the espresso #aloha_subject2_o2_6_209-363

ALOHAacceptedphysics fail · dropped_phys 제외관통 flag 1%train · gt

subject2/o2/6 · frame 209–363 (155 frame, 5.2 s) · export episode 99 · object_penetration L 1% / R 0% · grasp L 0% / R 100% · frame_bad 1%

close the lotion #aloha_subject3_o2_3_844-919

ALOHAacceptedphysics fail · not_held_phys 제외val · gt

subject3/o2/3 · frame 844–919 (76 frame, 2.5 s) · export episode 165 · object_penetration L 0% / R 0% · grasp L 54% / R 100% · frame_bad 0%

take out the chips #aloha_subject4_h1_4_460-607

ALOHAacceptedphysics fail · overextended_phys 제외관통 flag 41%test · vlm

subject4/h1/4 · frame 460–607 (148 frame, 4.9 s) · export episode 178 · object_penetration L 0% / R 41% · grasp L 0% / R 0% · frame_bad 41%

spray the spray #aloha_subject4_o2_4_163-219

ALOHAacceptedphysics success_phys 포함test · vlm

subject4/o2/4 · frame 163–219 (57 frame, 1.9 s) · export episode 241 · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 0%

put in the espresso #aloha_subject2_o1_6_422-520

ALOHAacceptedphysics fail · unstable_start_phys 제외train · gt

subject2/o1/6 · frame 422–520 (99 frame, 3.3 s) · export episode 94 · object_penetration L 0% / R 0% · grasp L 100% / R 78% · frame_bad 0%

squeeze the lotion #aloha_subject1_h1_3_255-424

ALOHAacceptedphysics fail · other_phys 제외train · gt

subject1/h1/3 · frame 255–424 (170 frame, 5.7 s) · export episode 5 · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 2%

grab the book #aloha_subject1_o2_2_179-267

ALOHAacceptedphysics fail · no_grasp_contact_phys 제외관통 flag 45%train · gt

subject1/o2/2 · frame 179–267 (89 frame, 3.0 s) · export episode 60 · object_penetration L 0% / R 45% · grasp L 45% / R 0% · frame_bad 45%

grab the spray #aloha_subject3_o2_5_716-747

ALOHAacceptedphysics fail · slipped_phys 제외val · gt

subject3/o2/5 · frame 716–747 (32 frame, 1.1 s) · export episode 167 · object_penetration L 0% / R 0% · grasp L 56% / R 0% · frame_bad 0%

open the lotion #aloha_subject4_h1_3_95-142

ALOHAacceptedphysics fail · passive_phys 제외test · vlm

subject4/h1/3 · frame 95–142 (48 frame, 1.6 s) · export episode 174 · object_penetration L 0% / R 0% · grasp L 19% / R 50% · frame_bad 0%

place the espresso #aloha_subject3_h2_7_47-113

ALOHAacceptedphysics fail · start_collision_phys 제외관통 flag 7%train · gt

subject3/h2/7 · frame 47–113 (67 frame, 2.2 s) · export episode 117 · object_penetration L 7% / R 0% · grasp L 0% / R 78% · frame_bad 7%

apply the spray #aloha_subject3_o2_5_380-715

ALOHAacceptedphysics success_phys 포함val · gt

subject3/o2/5 · frame 380–715 (336 frame, 11.2 s) · export episode 166 · object_penetration L 0% / R 0% · grasp L 0% / R 0% · frame_bad 0%

read the book #aloha_subject3_k2_2_256-452

ALOHAacceptedphysics fail · tracking_phys 제외관통 flag 2%val · gt

subject3/k2/2 · frame 256–452 (197 frame, 6.6 s) · export episode 134 · object_penetration L 0% / R 2% · grasp L 100% / R 0% · frame_bad 2%

grab the chips #aloha_subject3_h1_4_119-148

ALOHAacceptedphysics success_phys 제외관통 flag 47%train · gt

subject3/h1/4 · frame 119–148 (30 frame, 1.0 s) · export episode 104 · object_penetration L 7% / R 47% · grasp L 0% / R 0% · frame_bad 47%

spray the spray #aloha_subject4_k2_5_331-402

ALOHAacceptedphysics success_phys 포함test · vlm

subject4/k2/5 · frame 331–402 (72 frame, 2.4 s) · export episode 219 · object_penetration L 0% / R 0% · grasp L 0% / R 85% · frame_bad 0%

squeeze the lotion #aloha_subject4_k1_2_296-418

ALOHAacceptedphysics fail · dropped_phys 제외test · vlm

subject4/k1/2 · frame 296–418 (123 frame, 4.1 s) · export episode 202 · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 0%

close the lotion #aloha_subject3_o1_3_755-815

ALOHAacceptedphysics success_phys 포함관통 flag 11%val · gt

subject3/o1/3 · frame 755–815 (61 frame, 2.0 s) · export episode 151 · object_penetration L 11% / R 0% · grasp L 0% / R 100% · frame_bad 11%

put in the espresso #aloha_subject3_k1_7_425-489

ALOHAacceptedphysics fail · dropped_phys 제외train · gt

subject3/k1/7 · frame 425–489 (65 frame, 2.2 s) · export episode 132 · object_penetration L 0% / R 0% · grasp L 100% / R 0% · frame_bad 0%

apply the lotion #aloha_subject2_k2_3_363-684

ALOHArejectedphysics success_phys 제외train · gt

subject2/k2/3 · frame 363–684 (322 frame, 10.7 s) · 미export (composite.mp4) · object_penetration L 0% / R 0% · grasp L 0% / R 0% · frame_bad 28%

reject 사유: L1: ik_fail_ratio 0.280 > 0.1

grab the spray #aloha_subject4_k1_4_112-171

ALOHArejectedphysics fail · tracking_phys 제외관통 flag 5%test · vlm

subject4/k1/4 · frame 112–171 (60 frame, 2.0 s) · 미export (composite.mp4) · object_penetration L 5% / R 0% · grasp L 60% / R 67% · frame_bad 5%

reject 사유: L1: object collision ratio 0.050 > 0.0

place the cappuccino #aloha_subject2_o1_0_8-81

ALOHArejectedphysics fail · ik_fail_phys 제외관통 flag 80%train · gt

subject2/o1/0 · frame 8–81 (74 frame, 2.5 s) · 미export (composite.mp4) · object_penetration L 73% / R 80% · grasp L 0% / R 0% · frame_bad 80%

reject 사유: L1: ik_fail_ratio 0.405 > 0.1; L1: bad frame ratio 0.797 >= 0.5; L1: unsupported object 18 consecutive frames (lifted > 30 mm, no gripper holding it) >= 5; L2: gripper rate p99 7.05/s > 6.0

apply the spray #aloha_subject1_o2_5_328-453

ALOHArejectedphysics success_phys 제외train · gt

subject1/o2/5 · frame 328–453 (126 frame, 4.2 s) · 미export (composite.mp4) · object_penetration L 0% / R 0% · grasp L 0% / R 0% · frame_bad 0%

reject 사유: L2: dataset z-score outlier (> 4.0 sigma)

put in the espresso #aloha_subject2_k1_6_745-831

ALOHArejectedphysics success_phys 제외train · gt

subject2/k1/6 · frame 745–831 (87 frame, 2.9 s) · 미export (composite.mp4) · object_penetration L 0% / R 0% · grasp L 100% / R 72% · frame_bad 0%

reject 사유: L3: vlm score=3 robot_visible=True human_visible=True

take out the cocoa #aloha_subject3_o1_6_203-266

ALOHArejectedphysics fail · start_collision_phys 제외관통 flag 100%val · gt

subject3/o1/6 · frame 203–266 (64 frame, 2.1 s) · 미export (composite.mp4) · object_penetration L 100% / R 27% · grasp L 0% / R 0% · frame_bad 100%

reject 사유: L1: bad frame ratio 1.000 >= 0.5; L1: unsupported object 64 consecutive frames (lifted > 30 mm, no gripper holding it) >= 5

grab the book #ur5e_2f85_subject1_h2_2_132-225

UR5eacceptedphysics fail · knocked_phys 제외train · gt

subject1/h2/2 · frame 132–225 (94 frame, 3.1 s) · export episode 26 · object_penetration L 0% / R 0% · grasp L 51% / R 41% · frame_bad 0%

take out the espresso #ur5e_2f85_subject4_o2_6_414-492

UR5eacceptedphysics success_phys 포함관통 flag 28%test · vlm

subject4/o2/6 · frame 414–492 (79 frame, 2.6 s) · export episode 367 · object_penetration L 0% / R 28% · grasp L 100% / R 0% · frame_bad 28%

open the lotion #ur5e_2f85_subject3_k2_3_173-227

UR5eacceptedphysics fail · dropped_phys 제외val · gt

subject3/k2/3 · frame 173–227 (55 frame, 1.8 s) · export episode 219 · object_penetration L 0% / R 0% · grasp L 58% / R 100% · frame_bad 0%

place the cocoa #ur5e_2f85_subject2_o2_5_280-335

UR5eacceptedphysics success_phys 포함train · gt

subject2/o2/5 · frame 280–335 (56 frame, 1.9 s) · export episode 158 · object_penetration L 0% / R 0% · grasp L 79% / R 0% · frame_bad 7%

close the chips #ur5e_2f85_subject4_h2_4_360-538

UR5eacceptedphysics success_phys 포함관통 flag 8%test · vlm

subject4/h2/4 · frame 360–538 (179 frame, 6.0 s) · export episode 291 · object_penetration L 0% / R 8% · grasp L 100% / R 33% · frame_bad 8%

spray the spray #ur5e_2f85_subject4_k2_5_331-402

UR5eacceptedphysics fail · dropped_phys 제외test · vlm

subject4/k2/5 · frame 331–402 (72 frame, 2.4 s) · export episode 330 · object_penetration L 0% / R 0% · grasp L 0% / R 85% · frame_bad 0%

pour the milk #ur5e_2f85_subject3_o2_1_287-432

UR5eacceptedphysics success_phys 포함val · gt

subject3/o2/1 · frame 287–432 (146 frame, 4.9 s) · export episode 251 · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 0%

put in the espresso #ur5e_2f85_subject2_k2_6_758-837

UR5eacceptedphysics fail · other_phys 제외관통 flag 49%train · gt

subject2/k2/6 · frame 758–837 (80 frame, 2.7 s) · export episode 133 · object_penetration L 0% / R 49% · grasp L 100% / R 0% · frame_bad 49%

squeeze the lotion #ur5e_2f85_subject4_k1_2_296-418

UR5eacceptedphysics fail · tracking_phys 제외test · vlm

subject4/k1/2 · frame 296–418 (123 frame, 4.1 s) · export episode 304 · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 0%

read the book #ur5e_2f85_subject4_k2_2_162-243

UR5eacceptedphysics fail · no_grasp_contact_phys 제외test · vlm

subject4/k2/2 · frame 162–243 (82 frame, 2.7 s) · export episode 320 · object_penetration L 0% / R 0% · grasp L 33% / R 20% · frame_bad 0%

apply the spray #ur5e_2f85_subject3_k2_5_322-639

UR5eacceptedphysics success_phys 포함val · gt

subject3/k2/5 · frame 322–639 (318 frame, 10.6 s) · export episode 228 · object_penetration L 0% / R 0% · grasp L 0% / R 0% · frame_bad 1%

place the cocoa #ur5e_2f85_subject2_h2_5_0-68

UR5eacceptedphysics fail · start_collision_phys 제외관통 flag 10%train · gt

subject2/h2/5 · frame 0–68 (69 frame, 2.3 s) · export episode 99 · object_penetration L 10% / R 0% · grasp L 0% / R 77% · frame_bad 10%

grab the chips #ur5e_2f85_subject4_k1_3_98-147

UR5eacceptedphysics fail · passive_phys 제외test · vlm

subject4/k1/3 · frame 98–147 (50 frame, 1.7 s) · export episode 308 · object_penetration L 0% / R 0% · grasp L 40% / R 40% · frame_bad 0%

open the lotion #ur5e_2f85_subject4_o2_2_73-120

UR5eacceptedphysics fail · slipped_phys 제외관통 flag 31%test · vlm

subject4/o2/2 · frame 73–120 (48 frame, 1.6 s) · export episode 356 · object_penetration L 31% / R 0% · grasp L 0% / R 0% · frame_bad 31%

close the milk #ur5e_2f85_subject2_o1_1_729-930

UR5eacceptedphysics success_phys 포함train · gt

subject2/o1/1 · frame 729–930 (202 frame, 6.7 s) · export episode 135 · object_penetration L 0% / R 0% · grasp L 74% / R 70% · frame_bad 8%

place the lotion #ur5e_2f85_subject1_h2_3_0-52

UR5eacceptedphysics fail · not_held_phys 제외관통 flag 2%train · gt

subject1/h2/3 · frame 0–52 (53 frame, 1.8 s) · export episode 28 · object_penetration L 0% / R 2% · grasp L 0% / R 0% · frame_bad 2%

take out the espresso #ur5e_2f85_subject3_o1_7_674-703

UR5eacceptedphysics success_phys 포함관통 flag 10%val · gt

subject3/o1/7 · frame 674–703 (30 frame, 1.0 s) · export episode 247 · object_penetration L 0% / R 10% · grasp L 100% / R 0% · frame_bad 10%

put in the cocoa #ur5e_2f85_subject2_k1_4_295-355

UR5eacceptedphysics success_phys 포함train · gt

subject2/k1/4 · frame 295–355 (61 frame, 2.0 s) · export episode 109 · object_penetration L 0% / R 0% · grasp L 100% / R 38% · frame_bad 0%

read the book #ur5e_2f85_subject3_o1_2_277-494

UR5eacceptedphysics fail · dropped_phys 제외val · gt

subject3/o1/2 · frame 277–494 (218 frame, 7.3 s) · export episode 236 · object_penetration L 0% / R 0% · grasp L 100% / R 20% · frame_bad 0%

spray the spray #ur5e_2f85_subject3_k1_5_276-353

UR5eacceptedphysics fail · dropped_phys 제외관통 flag 3%train · gt

subject3/k1/5 · frame 276–353 (78 frame, 2.6 s) · export episode 204 · object_penetration L 3% / R 0% · grasp L 0% / R 100% · frame_bad 3%

grab the milk #ur5e_2f85_subject4_k2_1_965-1021

UR5eacceptedphysics fail · no_grasp_contact_phys 제외test · vlm

subject4/k2/1 · frame 965–1021 (57 frame, 1.9 s) · export episode 319 · object_penetration L 0% / R 0% · grasp L 70% / R 72% · frame_bad 0%

apply the lotion #ur5e_2f85_subject4_h1_3_540-675

UR5eacceptedphysics success_phys 포함관통 flag 1%test · vlm

subject4/h1/3 · frame 540–675 (136 frame, 4.5 s) · export episode 272 · object_penetration L 0% / R 1% · grasp L 61% / R 0% · frame_bad 1%

squeeze the lotion #ur5e_2f85_subject3_k1_3_260-391

UR5erejectedphysics success_phys 제외train · gt

subject3/k1/3 · frame 260–391 (132 frame, 4.4 s) · 미export (composite.mp4) · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 25%

reject 사유: L1: ik_fail_ratio 0.250 > 0.1

read the espresso #ur5e_2f85_subject4_k1_6_166-367

UR5erejectedphysics fail · dropped_phys 제외관통 flag 5%test · vlm

subject4/k1/6 · frame 166–367 (202 frame, 6.7 s) · 미export (composite.mp4) · object_penetration L 0% / R 5% · grasp L 100% / R 28% · frame_bad 5%

reject 사유: L1: object collision ratio 0.054 > 0.0

grab the cappuccino #ur5e_2f85_subject1_k1_0_68-115

UR5erejectedphysics fail · tracking_phys 제외관통 flag 83%train · gt

subject1/k1/0 · frame 68–115 (48 frame, 1.6 s) · 미export (composite.mp4) · object_penetration L 83% / R 79% · grasp L 0% / R 0% · frame_bad 83%

reject 사유: L1: bad frame ratio 0.833 >= 0.5; L1: unsupported object 10 consecutive frames (lifted > 30 mm, no gripper holding it) >= 5; L2: gripper rate p99 6.50/s > 6.0

open the chips #ur5e_2f85_subject3_k1_4_158-214

UR5erejectedphysics success_phys 제외관통 flag 30%train · gt

subject3/k1/4 · frame 158–214 (57 frame, 1.9 s) · 미export (composite.mp4) · object_penetration L 0% / R 30% · grasp L 100% / R 0% · frame_bad 35%

reject 사유: L2: dataset z-score outlier (> 4.0 sigma)

pour the milk #ur5e_2f85_subject1_h2_1_340-448

UR5erejectedphysics fail · other_phys 제외train · gt

subject1/h2/1 · frame 340–448 (109 frame, 3.6 s) · 미export (composite.mp4) · object_penetration L 0% / R 0% · grasp L 0% / R 100% · frame_bad 8%

reject 사유: L3: vlm score=3 robot_visible=True human_visible=True

take out the cocoa #ur5e_2f85_subject3_o2_6_192-264

UR5erejectedphysics fail · start_collision_phys 제외관통 flag 100%val · gt

subject3/o2/6 · frame 192–264 (73 frame, 2.4 s) · 미export (composite.mp4) · object_penetration L 100% / R 0% · grasp L 0% / R 48% · frame_bad 100%

reject 사유: L1: bad frame ratio 1.000 >= 0.5; L1: unsupported object 28 consecutive frames (lifted > 30 mm, no gripper holding it) >= 5

ego2robot 데이터 갤러리: ALOHA / UR5e episode 56개를 눈으로 확인

TL;DR

1 영상 읽는 법

아래 timeline (episode 전체, 흰 cursor = 현재 frame)

2 데이터셋 요약

ALOHA · /home/nas_main/taewoongkang/Dataset/H2O_ego2robot/aloha/lerobot/h2o_ego2robot_aloha_v21

UR5e · /home/nas_main/taewoongkang/Dataset/H2O_ego2robot/ur5e/lerobot/h2o_ego2robot_ur5e_v21

3 샘플 선택

4 갤러리

ALOHA · `/home/nas_main/taewoongkang/Dataset/H2O_ego2robot/aloha/lerobot/h2o_ego2robot_aloha_v21`

UR5e · `/home/nas_main/taewoongkang/Dataset/H2O_ego2robot/ur5e/lerobot/h2o_ego2robot_ur5e_v21`