diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7fba88371ab2460c38c3794a90f04549a1791048 --- /dev/null +++ b/README.md @@ -0,0 +1,604 @@ +--- +task_categories: + - robotics + +language: + - en + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +--- + +# Airbot_MMK2_stack_block + +## Dataset Description + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +## Task Preview + + + +[View Video Directly](videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4) + +### Overview + +- **Total Episodes:** 236 +- **Total Frames:** 60925 +- **FPS:** 30 +- **Dataset Size:** 2.00 GB +- **Robot Name:** `Airbot_MMK2` +- **End-Effector Type:** `five_finger_gripper` +- **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` +- **Sensors:** `cam_head_rgb`, +`cam_left_wrist_rgb`, +`cam_right_wrist_rgb`, +`cam_front_rgb` + +- **Camera Information:** cam_head_rgb; +cam_left_wrist_rgb; +cam_right_wrist_rgb; +cam_front_rgb + +- **Scene:** `household->bedroom` +- **Objects:** `square_building_blocks(unknown)`, +`block_pillar(unknown)` + +- **Task Description:** place the square building blocks in the center with left hand and put the cylindrical building blocks on top with right hand. + + +### Primary Task Instruction +> place the square building blocks in the center with left hand and put the cylindrical building blocks on top with right hand. + +### Robot Configuration + +- **Robot Name:** `Airbot_MMK2` +- **Codebase Version:** `v2.1` +- **End-Effector Type:** `five_finger_gripper` +- **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` + +## Scene and Objects + +### Scene Type +`household->bedroom` + +### Objects +- `square_building_blocks(unknown)` +- `block_pillar(unknown)` + + +## Task Descriptions + +- **Standardized Task Description:** `place the square building blocks in the center with left hand and put the cylindrical building blocks on top with right hand.` +- **Operation Type:** `Due to some reasons, this dataset temporarily cannot provide the operation type information.` + +- **Environment Type:** `Due to some reasons, this dataset temporarily cannot provide the environment type information.` + +### Sub-Tasks +This dataset includes 20 distinct subtasks: + +1. **Grasp the blue build blocks with the left gripper** (Index: 0) +2. **Grasp the green build blocks with the right gripper** (Index: 1) +3. **Place the blue build blocks on the Mini table with the left gripper** (Index: 2) +4. **Place the green build blocks on the blue build block with the right gripper** (Index: 3) +5. **Grasp the blue diamond shaped build blocks with the right gripper** (Index: 4) +6. **Grasp the red build blocks with the right gripper** (Index: 5) +7. **Place the blue diamond shaped build blocks on the glasses case with the right gripper** (Index: 6) +8. **Place the purple build blocks on the red build block with the right gripper** (Index: 7) +9. **Place the green build blocks on the center of the table with the left gripper** (Index: 8) +10. **Grasp the green build blocks with the left gripper** (Index: 9) +11. **Place the glasses case on the red and green build blocks with the left gripper** (Index: 10) +12. **Grasp the purple build blocks with the right gripper** (Index: 11) +13. **Place the blue build blocks on the yellow build block with the left gripper** (Index: 12) +14. **Grasp the glasses case with the left gripper** (Index: 13) +15. **Place the green cylindrical build blocks on the green build blocks with the right gripper** (Index: 14) +16. **End** (Index: 15) +17. **Place the blue build blocks on the pink build block with the left gripper** (Index: 16) +18. **Place the red build blocks on the blue build block with the right gripper** (Index: 17) +19. **Grasp the green cylindrical build blocks with the right gripper** (Index: 18) +20. **null** (Index: 19) + + +### Atomic Actions +- `grasp` +- `pick` +- `place` + + +## Hardware and Sensors + + +### Sensors + +- `cam_head_rgb` + +- `cam_left_wrist_rgb` + +- `cam_right_wrist_rgb` + +- `cam_front_rgb` + + + + +### Camera Information + + +- `cam_head_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + +- `cam_left_wrist_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + +- `cam_right_wrist_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + +- `cam_front_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + + + + +### Coordinate System +- **Definition:** `right-hand-frame` + + +### Dimensions & Units +- **Joint Rotation:** `radian` +- **End-Effector Rotation:** `end_rotation_dim` +- **End-Effector Translation:** `end_translation_dim` + + + + +## Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 236 | +| **Total Frames** | 60925 | +| **Total Tasks** | 20 | +| **Total Videos** | 944 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **State Dimensions** | 36 | +| **Action Dimensions** | 36 | +| **Camera Views** | 4 | +| **Dataset Size** | 2.00 GB | + + +## Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:235 + + +## Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{id}/episode_{id}.parquet` +- **Video Path Pattern**: `videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + +### Data Structure (Tree) + +``` +Airbot_MMK2_stack_block_qced_hardlink/ +|-- annotations +| |-- eef_acc_mag_annotation.jsonl +| |-- eef_direction_annotation.jsonl +| |-- eef_velocity_annotation.jsonl +| |-- gripper_activity_annotation.jsonl +| |-- gripper_mode_annotation.jsonl +| |-- scene_annotations.jsonl +| `-- subtask_annotations.jsonl +|-- data +| `-- chunk-000 +| |-- episode_000000.parquet +| |-- episode_000001.parquet +| |-- episode_000002.parquet +| |-- episode_000003.parquet +| |-- episode_000004.parquet +| |-- episode_000005.parquet +| |-- episode_000006.parquet +| |-- episode_000007.parquet +| |-- episode_000008.parquet +| |-- episode_000009.parquet +| |-- episode_000010.parquet +| `-- episode_000011.parquet +| `-- ... (224 more entries) +|-- meta +| |-- episodes.jsonl +| |-- episodes_stats.jsonl +| |-- info.json +| `-- tasks.jsonl +`-- videos + `-- chunk-000 + |-- observation.images.cam_front_rgb + |-- observation.images.cam_head_rgb + |-- observation.images.cam_left_wrist_rgb + `-- observation.images.cam_right_wrist_rgb +``` + +## Camera Views + + + + + + +This dataset includes 4 camera views: `cam_head_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`, `cam_front_rgb`. + + +## Features (Full YAML) + +```yaml +observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false +observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false +observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false +observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false +observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +timestamp: + dtype: float32 + shape: + - 1 + names: null +frame_index: + dtype: int64 + shape: + - 1 + names: null +episode_index: + dtype: int64 + shape: + - 1 + names: null +index: + dtype: int64 + shape: + - 1 + names: null +task_index: + dtype: int64 + shape: + - 1 + names: null +subtask_annotation: + names: null + shape: + - 5 + dtype: int32 +scene_annotation: + names: null + shape: + - 1 + dtype: int32 +eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 +eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 +eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 +eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 +eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 +eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 +eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + +``` + +## Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +- `eef_acc_mag_annotation.jsonl` +- `eef_direction_annotation.jsonl` +- `eef_velocity_annotation.jsonl` +- `gripper_activity_annotation.jsonl` +- `gripper_mode_annotation.jsonl` +- `scene_annotations.jsonl` +- `subtask_annotations.jsonl` + + +## Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## Authors + +### Contributors +This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) + +### Annotators +No annotator information available. + +## Links + +- **Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +## Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## License + +apache-2.0 + +## Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025}, + } + +``` + +### Additional References + +If you use this dataset, please also consider citing: +LeRobot Framework: https://github.com/huggingface/lerobot + + +## Version Information + +Initial Release diff --git a/annotations/eef_acc_mag_annotation.jsonl b/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/annotations/eef_direction_annotation.jsonl b/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/annotations/eef_velocity_annotation.jsonl b/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/annotations/gripper_activity_annotation.jsonl b/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/annotations/gripper_mode_annotation.jsonl b/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/annotations/scene_annotations.jsonl b/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1eeda6acf941ce23872a81dce526c801c5884483 --- /dev/null +++ b/annotations/scene_annotations.jsonl @@ -0,0 +1,236 @@ +{"scene_index": 0, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 1, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-left"} +{"scene_index": 2, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 3, "scene": "Here s the location of each specified item (ignoring other objects):, - Green blocks: center, - Red blocks: front-right, - Blue blocks: back-left, - Yellow blocks: front-right, - Purple blocks: none (no purple blocks visible), - Glasses box: none (no glasses box visible)"} +{"scene_index": 4, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the back-right"} +{"scene_index": 5, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 6, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the front-right, yellow block is in the center, purple block is in the back-left, glasses case is in the back-left"} +{"scene_index": 7, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 8, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is in the center, The purple block is in the back-right, The glasses case is in the front-right"} +{"scene_index": 9, "scene": "The green block is in the center, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 10, "scene": "Green blocks: in the back-left, Red blocks: in the front-left, Blue blocks: in the back-right, Yellow blocks: in the center, Purple blocks: in the front-right, Eyeglass case: in the front-right"} +{"scene_index": 11, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is in the front-left, The glasses case is in the back-right"} +{"scene_index": 12, "scene": "Green blocks: front-left, Red block: front-left, Blue block: front-right, Yellow block: center, Purple block: back-left, Eyeglasses box: back-right"} +{"scene_index": 13, "scene": "Green block is in the front-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the center, Purple block is in the back-right, Eyeglasses case is in the back-right"} +{"scene_index": 14, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 15, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the back-right, The glasses case is not present"} +{"scene_index": 16, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is in the front-left, The eyeglass case is in the back-left"} +{"scene_index": 17, "scene": "The green blocks are in the front-left, front-right, and center. The red blocks are in the front-left and front-right. The blue blocks are in the back-left and back-right. The yellow blocks are in the front-center and center. The purple blocks are in the back-left and back-right. The glasses case is in the back-right"} +{"scene_index": 18, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 19, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 20, "scene": "Green block is in the front-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the back-right, Eyeglasses case is in the back-right"} +{"scene_index": 21, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left, Blue blocks are in the back-left, Yellow blocks are in the center, Purple blocks are in the back-right, Eyeglass case is in the back-right"} +{"scene_index": 22, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-left"} +{"scene_index": 23, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is in the center, The purple block is in the back-right, The glasses case is in the back-right"} +{"scene_index": 24, "scene": "Here s the location of each specified item (ignoring others):, - Green blocks: center, - Red blocks: front-right, - Blue blocks: front-left, - Yellow blocks: front-right, - Purple blocks: none found, - Eyeglass case: none found, Note: Purple blocks and eyeglass case were not found in the image. The green blocks are centered, and the red and yellow blocks are both located in the front-right area. The blue block is in the front-left"} +{"scene_index": 25, "scene": "Green block is in the front-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the back-right, Eyeglasses box is in the back-left"} +{"scene_index": 26, "scene": "The green blocks are in the front-left, the red block is in the front-left, the blue block is in the front-left, the yellow block is in the center, the purple block is in the front-right, and the glasses case is in the back-left"} +{"scene_index": 27, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 28, "scene": "The green blocks are not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 29, "scene": "Green blocks are in the back-left, Red blocks are in the front-right, Blue blocks are in the back-left, Yellow blocks are in the front-right, Purple blocks are in the back-left, Eyeglasses box is in the back-right"} +{"scene_index": 30, "scene": "Here s the location of each specified item, ignoring other objects:, - Green block: front-left, - Red block: front-left, - Blue block: back-left, - Yellow block: center, - Purple block: not present (no purple block visible), - Eyeglass case: not present (no eyeglass case visible), Note: Purple block and eyeglass case are not visible in the image, so their locations cannot be determined"} +{"scene_index": 31, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 32, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 33, "scene": "green block is in the front-left, red block is in the front-right, blue block is in the back-left, yellow block is in the front-right, purple block is in the back-right, glasses case is in the back-right"} +{"scene_index": 34, "scene": "Here s the location of each specified item (ignoring other objects):, - Green block: front-left, - Red block: front-left, - Blue block: back-left, - Yellow block: front-right, - Purple block: not present (only green, red, blue, yellow blocks are visible), - Eyeglass case: not present (only blocks and a cupcake are visible), Note: The image shows green, red, blue, and yellow blocks. There is no purple block or eyeglass case visible"} +{"scene_index": 35, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The eyeglass case is not present"} +{"scene_index": 36, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 37, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-center, The yellow block is not present, The purple block is in the front-right, The eyeglass case is in the back-right"} +{"scene_index": 38, "scene": "Green block is in the back-left, Red block is in the front-right, Blue block is in the front-left, Yellow block is in the front-right, Purple block is in the back-right, Eyeglasses box is in the back-right"} +{"scene_index": 39, "scene": "Here s the location of each specified item (ignoring other objects):, - Green block: in the front-left, - Red block: in the front-left, - Blue block: in the back-left, - Yellow block: in the center, - Purple block: in the front-right, - Eyeglass case: in the back-right"} +{"scene_index": 40, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 41, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The purple block is in the front-right, The eyeglass case is in the back-right"} +{"scene_index": 42, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 43, "scene": "The green block is in the front-left, The red block is in the front-left, The blue block is in the front-left, The yellow block is in the center, The purple block is in the front-right, The glasses case is in the back-left"} +{"scene_index": 44, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 45, "scene": "Here s the location of each specified item (ignoring others):, - Green block: in the front-left, - Red block: in the front-left, - Blue block: in the front-left, - Yellow block: in the center, - Purple block: in the back-left, - Eyeglass case: in the front-right"} +{"scene_index": 46, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-center"} +{"scene_index": 47, "scene": "The green block is in the back-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 48, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The eyeglass case is not present"} +{"scene_index": 49, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-left"} +{"scene_index": 50, "scene": "Here s the location of each specified item (ignoring others):, - Green block: in the front-left, - Red block: in the front-left (partially obscured by a strawberry cupcake), - Blue block: in the back-left, - Yellow block: in the center, - Purple block: not visible (or not present in the image), - Eyeglass case: not visible (or not present in the image), Note: The image contains a green circular block (not a cube) in the front-left, and a red triangular block in the front-left, which may be what you mean by red block and"} +{"scene_index": 51, "scene": "The green block is in the back-left, The red block is in the front-right, The blue block is not visible, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 52, "scene": "The green block is not present. The blue block is in the front-left. The red block is in the back-right. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 53, "scene": "The green block is in the center, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 54, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the center, Purple block is in the front-right, Eyeglass case is in the back-right"} +{"scene_index": 55, "scene": "Green blocks are in the back-left, Red blocks are in the front-right, Blue blocks are in the back-left, Yellow blocks are in the front-right, Purple blocks are not visible, Eyeglasses box is not visible"} +{"scene_index": 56, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The purple block is in the front-right, The eyeglass case is not present in the image"} +{"scene_index": 57, "scene": "Here s the location of each specified item (ignoring other objects):, - Green block: in the front-left, - Red block: in the front-left, - Blue block: in the back-left, - Yellow block: in the center, - Purple block: in the back-right, - Eyeglass case: in the front-right"} +{"scene_index": 58, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 59, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the front-right, eyeglass case is in the back-right"} +{"scene_index": 60, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 61, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-center, The yellow block is not visible, The purple block is in the front-right, The glasses case is not visible"} +{"scene_index": 62, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 63, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the front-right"} +{"scene_index": 64, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 65, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The eyeglass case is not present"} +{"scene_index": 66, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 67, "scene": "Here s the location of each specified item (ignoring other objects):, - Green blocks: one is in the front-left, another is in the front-right, and one is in the back-left, - Red blocks: one is in the front-left, - Blue blocks: one is in the back-left, - Yellow blocks: one is in the center, - Purple blocks: none visible, - Eyeglass case: none visible, Note: Purple blocks and eyeglass"} +{"scene_index": 68, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 69, "scene": "Here s the location of each specified item (ignoring others):, - Green block: front-left, - Red block: front-right, - Blue block: front-left, - Yellow block: front-right, - Purple block: not present, - Eyeglasses case: not present, Note: The image shows a red block, a blue block, a green block, and a yellow block. There is no purple block or eyeglasses case visible"} +{"scene_index": 70, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the back-right, The glasses case is not present"} +{"scene_index": 71, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 72, "scene": "Here s the location of each specified item (ignoring other objects):, - Green block: front-left, - Red block: front-left, - Blue block: back-left, - Yellow block: front-center, - Purple block: not present (no purple block visible), - Eyeglass case: not present (no eyeglass case visible), Note: Purple block and eyeglass case are not visible in the image, so their locations cannot be determined"} +{"scene_index": 73, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is in the back-right, The glasses case is in the back-right"} +{"scene_index": 74, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the front-center, purple block is in the back-right, eyeglass case is in the back-right"} +{"scene_index": 75, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 76, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 77, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is in the back-left, The glasses case is in the back-right"} +{"scene_index": 78, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the center, Purple block is in the front-right, Eyeglass case is in the back-right"} +{"scene_index": 79, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 80, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 81, "scene": "The green blocks are not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 82, "scene": "The green block is in the back-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is in the front-left, The glasses case is in the back-right"} +{"scene_index": 83, "scene": "Green blocks: front-left, front-right, back-left, back-right, front, back, left, right, center (multiple positions), Red block: front-left, Blue block: back-left, Yellow block: front-center, Purple block: back-right, Eyeglass case: front-right"} +{"scene_index": 84, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 85, "scene": "green block is in the front-left, red block is in the front-right, blue block is in the back-left, yellow block is in the front-right, purple block is in the back-right, glasses case is in the back-right"} +{"scene_index": 86, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 87, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is in the back-right, The glasses case is in the back-right"} +{"scene_index": 88, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 89, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 90, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 91, "scene": "The green block is in the front-left, The green cylindrical object is in the front-right, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 92, "scene": "Here s the location of each specified item (ignoring other objects):, - Green block: front-left, - Red block: front-right, - Blue block: front-left, - Yellow block: front-right, - Purple block: not present, - Eyeglass case: not present, Note: The image does not show a purple block or an eyeglass case. The purple block and eyeglass case are not visible in the image, so their locations cannot be determined"} +{"scene_index": 93, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the back-left"} +{"scene_index": 94, "scene": "Green block is in the back-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the back-left, Eyeglasses box is not present"} +{"scene_index": 95, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 96, "scene": "green block is in the back-left, red block is in the front-right, blue block is in the front-left, yellow block is in the front-right, purple block is in the back-right, glasses case is in the back-right"} +{"scene_index": 97, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-left"} +{"scene_index": 98, "scene": "Green block is in the back-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the back-left, Eyeglass case is in the back-right"} +{"scene_index": 99, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 100, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 101, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the front-right, yellow block is in the center, purple block is in the back-left, glasses case is in the back-left"} +{"scene_index": 102, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 103, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 104, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 105, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 106, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 107, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 108, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 109, "scene": "The green block is in the back-right, The red block is in the center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 110, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 111, "scene": "The green block is in the center, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 112, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 113, "scene": "Green block is in the back-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the front-right, Eyeglasses case is not present"} +{"scene_index": 114, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 115, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 116, "scene": "The green block is in the front-left, The green ring is in the front-right, The red block, blue block, yellow block, and purple block are not visible, The glasses case is not visible"} +{"scene_index": 117, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the back-left"} +{"scene_index": 118, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 119, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The purple block (glasses case) is in the back-left"} +{"scene_index": 120, "scene": "The green block is in the front-left"} +{"scene_index": 121, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 122, "scene": "The green block is in the front-left. The green cylindrical object is in the front-right"} +{"scene_index": 123, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 124, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left, Blue blocks are in the back-left, Yellow blocks are in the center and front-right, Purple blocks are in the back-right, Eyeglass case is in the back-right"} +{"scene_index": 125, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 126, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 127, "scene": "The green block is in the front-left. The green cylindrical object is in the front-right"} +{"scene_index": 128, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is not present"} +{"scene_index": 129, "scene": "The green block is in the front-left. The green ring is in the front-right"} +{"scene_index": 130, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 131, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 132, "scene": "green block is in the center, red block is in the back-left, blue block is in the front-right, yellow block is not present, purple block is not present, glasses case is in the front-left"} +{"scene_index": 133, "scene": "The green block is in the front-left, The green cylindrical object is in the front-right, The red block, blue block, yellow block, and purple block are not visible, The glasses case is not visible"} +{"scene_index": 134, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 135, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the back-left"} +{"scene_index": 136, "scene": "The green block is in the front-left. The red block is not visible. The blue block is not visible. The yellow block is not visible. The purple block is not visible. The glasses case is not visible"} +{"scene_index": 137, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 138, "scene": "The green block is in the front-left, The green cylindrical object is in the front-right, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 139, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 140, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 141, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the back-left"} +{"scene_index": 142, "scene": "The green block is in the front-left. The green cylinder is in the front-right"} +{"scene_index": 143, "scene": "The green block is in the front-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the back-right"} +{"scene_index": 144, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 145, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the back-left"} +{"scene_index": 146, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The eyeglass case is not present"} +{"scene_index": 147, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 148, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The yellow block is not present, The eyeglass case is in the front-left"} +{"scene_index": 149, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 150, "scene": "The green block is in the center, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 151, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 152, "scene": "The green block is in the center, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The purple block (glasses case) is in the front-left"} +{"scene_index": 153, "scene": "Here s the location of each specified item (ignoring other items):, - Green blocks: in the back-left, - Red blocks: in the front-left, - Blue blocks: in the back-left, - Yellow blocks: in the front-right, - Purple blocks: not present, - Glasses box: not present, Note: Purple blocks and glasses box are not visible in the image, so their locations cannot be determined. The image contains green, red, blue, and yellow blocks, but no purple blocks or glasses box"} +{"scene_index": 154, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the front-left, Yellow block is in the center, Purple block is in the front-right, Eyeglass case is in the back-right"} +{"scene_index": 155, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 156, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 157, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not present, The glasses case is not present"} +{"scene_index": 158, "scene": "Here s the location of each specified item (ignoring others):, - Green block: is in the front-left, - Red block: is in the front-left, - Blue block: is in the back-left, - Yellow block: is in the center, - Purple block: is in the back-right, - Eyeglass case: is in the front-right"} +{"scene_index": 159, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the back-right"} +{"scene_index": 160, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The purple block (glasses case) is in the back-left"} +{"scene_index": 161, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the center, Purple block is in the back-right, Eyeglasses case is in the back-right"} +{"scene_index": 162, "scene": "Green block is in the front-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the back-right, Eyeglass case is in the back-right"} +{"scene_index": 163, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The purple block is in the front-right, The eyeglass case is in the back-right"} +{"scene_index": 164, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 165, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left, Blue blocks are in the back-left, Yellow blocks are in the center and front-right, Purple blocks are in the back-left, Eyeglass case is in the back-left"} +{"scene_index": 166, "scene": "The green block is in the front-right, The red block is in the back-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 167, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 168, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The purple block (glasses case) is in the back-left"} +{"scene_index": 169, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, glasses case is in the back-right"} +{"scene_index": 170, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 171, "scene": "The green blocks are in the front-left, The red blocks are in the front-right, The blue blocks are in the front-left, The yellow blocks are in the front-right, The purple blocks are in the front-left, The glasses case is in the back-right"} +{"scene_index": 172, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left, Blue blocks are in the front-left and center, Yellow blocks are in the center, Purple blocks are in the front-left, Eyeglass case is in the back-right"} +{"scene_index": 173, "scene": "The green block is in the front-left, The red block is not visible, The blue block is not visible, The yellow block is not visible, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 174, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 175, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 176, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the back-right"} +{"scene_index": 177, "scene": "The green block is in the center, The red block is in the center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 178, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-left, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 179, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 180, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the center, Purple block is in the back-right, Eyeglass case is in the back-right"} +{"scene_index": 181, "scene": "Green blocks: front-left, Red blocks: front-left, Blue blocks: back-left, Yellow blocks: center, Purple blocks: back-right, Eyeglass case: front-right"} +{"scene_index": 182, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 183, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 184, "scene": "The green blocks are in the back-left, The red blocks are in the front-left, The blue blocks are in the back-left, The yellow blocks are in the front-right, The purple blocks are not visible, The glasses case is not visible"} +{"scene_index": 185, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left, Blue blocks are in the front-left and center, Yellow blocks are in the center, Purple blocks are in the front-left, Eyeglass case is in the back-left"} +{"scene_index": 186, "scene": "The green block is in the center, The red block is in the center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 187, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the front-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the back-right"} +{"scene_index": 188, "scene": "The green block is in the back-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not present, The glasses case is not present"} +{"scene_index": 189, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The purple block is in the front-right, The eyeglass case is in the back-right"} +{"scene_index": 190, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 191, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left and front-right, Blue blocks are in the front-left and front-right, Yellow blocks are in the front-center and center, Purple blocks are in the front-left and front-right, Eyeglass box is in the back-left"} +{"scene_index": 192, "scene": "The green block is in the center, The red block is in the center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 193, "scene": "Green block is in the back-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the front-right, Purple block is in the front-right, Eyeglasses box is in the back-right"} +{"scene_index": 194, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 195, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple block is not present, The glasses case is in the front-left"} +{"scene_index": 196, "scene": "Green blocks: front-left, Red block: front-left, Blue block: back-left, Yellow block: center, Purple block: front-right, Eyeglass case: back-right"} +{"scene_index": 197, "scene": "Here s the location of each specified item (ignoring other items):, - Green block: in the back-left, - Red block: in the front-right, - Blue block: in the back-left (part of a stack), - Yellow block: in the front-right, - Purple block: not present, - Glasses box: not present, Note: Purple block and glasses box are not visible in the image, so their locations cannot be determined. The green and blue blocks are both located in the back-left, and the red and yellow blocks are both located in the front-right"} +{"scene_index": 198, "scene": "Green blocks are in the front-left, front-right, and center, Red blocks are in the front-left and front-right, Blue blocks are in the back-left and center, Yellow blocks are in the front-center and center, Purple blocks are in the back-left and center, Eyeglass case is in the back-left"} +{"scene_index": 199, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 200, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The purple block is in the front-right, The eyeglass case is not present in the image"} +{"scene_index": 201, "scene": "Green block is in the front-left, Red block is in the front-right, Blue block is in the back-left, Yellow block is in the front-right, Purple block (glasses box) is in the back-right"} +{"scene_index": 202, "scene": "The green blocks are in the front-left, the red block is in the front-left, the blue block is in the front-left, the yellow block is in the center, the purple block is in the back-left, and the glasses case is in the back-right"} +{"scene_index": 203, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the front-left, yellow block is in the center, purple block is in the back-left, eyeglass case is in the back-right"} +{"scene_index": 204, "scene": "The green block is in the back-right, The red block is in the back-center, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 205, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 206, "scene": "Here s the location of each specified item (ignoring other items):, - Green blocks: in the back-left, - Red blocks: in the front-right, - Blue blocks: in the back-left, - Yellow blocks: in the front-right, - Purple blocks: not present, - Glasses box: not present, Note: Purple blocks and glasses box are not visible in the image, so their locations cannot be determined. The green and blue blocks are both located in the back-left, and the red and yellow blocks are both located in the front-right"} +{"scene_index": 207, "scene": "Green block is in the front-left, Red block is in the front-left, Blue block is in the back-left, Yellow block is in the center, Purple block is in the back-right, Eyeglasses box is in the front-right"} +{"scene_index": 208, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 209, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 210, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the back-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 211, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the back-right, eyeglass case is in the front-right"} +{"scene_index": 212, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The yellow block is not present, The purple case is in the front-left"} +{"scene_index": 213, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The eyeglass case is not present"} +{"scene_index": 214, "scene": "The green block is in the back-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 215, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is not visible, The glasses case is not visible"} +{"scene_index": 216, "scene": "Here s the location of each specified item, ignoring other objects:, - Green block: front-left, - Red block: front-left, - Blue block: front-left, - Yellow block: center, - Purple block: back-left, - Eyeglass case: front-right"} +{"scene_index": 217, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 218, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-right, The yellow block is not present, The purple block is in the front-right, The eyeglass case is not present"} +{"scene_index": 219, "scene": "green block is in the back-left, red block is in the front-right, blue block is in the front-left, yellow block is in the front-right, purple block is in the back-right, glasses case is in the back-right"} +{"scene_index": 220, "scene": "green block is in the front-left, red block is in the front-left, blue block is in the back-left, yellow block is in the center, purple block is in the front-right, eyeglass case is in the back-right"} +{"scene_index": 221, "scene": "The green block is in the back-right, The red block is in the back-left, The blue block is in the front-right, The yellow block is not present, The glasses case is in the front-left"} +{"scene_index": 222, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-left, The purple block is in the front-right, The eyeglass case is not present in the image"} +{"scene_index": 223, "scene": "Green blocks are in the back-left, Red blocks are in the front-right, Blue blocks are in the front-left, Yellow blocks are in the front-right, Purple blocks are not present, Eyeglass case is not present"} +{"scene_index": 224, "scene": "Green blocks are in the front-left, back-left, front-right, and back-right, Red blocks are in the front-left and back-left, Blue blocks are in the front-left and back-left, Yellow blocks are in the front-right and back-right, Purple blocks are in the front-left and back-left, Eyeglass case is in the front-left"} +{"scene_index": 225, "scene": "Here s the location of each specified item (ignoring others):, - Green block: is in the front-left, - Red block: is in the front-left, - Blue block: is in the back-left, - Yellow block: is in the front-center, - Purple block: is in the back-right, - Eyeglass case: is in the back-right"} +{"scene_index": 226, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 227, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} +{"scene_index": 228, "scene": "The green block is in the front-left, The red block is in the front-right, The blue block is in the front-left, The yellow block is in the front-right, The purple block is in the front-left, The glasses case is in the back-left"} +{"scene_index": 229, "scene": "Green blocks: front-left, Red blocks: front-left, Blue blocks: back-left, Yellow blocks: center, Purple blocks: front-right, Eyeglass case: back-right"} +{"scene_index": 230, "scene": "The green block is in the center, The red block is in the front-left, The blue block is in the front-right, The purple block (glasses case) is in the front-left"} +{"scene_index": 231, "scene": "The green block is in the front-left, The red block is in the back-right, The blue block is in the front-left, The yellow block is not present, The purple block is in the front-right, The glasses case is not present"} +{"scene_index": 232, "scene": "Here s the location of each specified item (ignoring other items):, - Green block: front-left, - Red block: front-right, - Blue block: back-left, - Yellow block: front-right, - Purple block: not present, - Glasses case: not present, Note: The image does not show a purple block or a glasses case. The purple block and glasses case are not present in the image, so their locations cannot be determined"} +{"scene_index": 233, "scene": "Here s the location of each specified item (ignoring others):, - Green blocks: one is in the front-left, another is in the back-left, - Red blocks: one is in the front-left, - Blue blocks: one is in the front-left, - Yellow blocks: one is in the center, - Purple blocks: none visible, - Eyeglass case: none visible, Note: Purple blocks and eyeglass case are not present in the image. For the visible items, their positions are as above"} +{"scene_index": 234, "scene": "On the left, there is a green building block. On the right, there is another green building block."} +{"scene_index": 235, "scene": "The green block is not present. The red block is in the back-right. The blue block is in the front-left. The yellow block is not present. The purple block is in the front-right. The glasses case is not present"} diff --git a/annotations/subtask_annotations.jsonl b/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3f674dc7fd042c26dc1a20c888566b5dd7a74f3 --- /dev/null +++ b/annotations/subtask_annotations.jsonl @@ -0,0 +1,20 @@ +{"subtask_index": 0, "subtask": "Grasp the blue build blocks with the left gripper"} +{"subtask_index": 1, "subtask": "Grasp the green build blocks with the right gripper"} +{"subtask_index": 2, "subtask": "Place the blue build blocks on the Mini table with the left gripper"} +{"subtask_index": 3, "subtask": "Place the green build blocks on the blue build block with the right gripper"} +{"subtask_index": 4, "subtask": "Grasp the blue diamond shaped build blocks with the right gripper"} +{"subtask_index": 5, "subtask": "Grasp the red build blocks with the right gripper"} +{"subtask_index": 6, "subtask": "Place the blue diamond shaped build blocks on the glasses case with the right gripper"} +{"subtask_index": 7, "subtask": "Place the purple build blocks on the red build block with the right gripper"} +{"subtask_index": 8, "subtask": "Place the green build blocks on the center of the table with the left gripper"} +{"subtask_index": 9, "subtask": "Grasp the green build blocks with the left gripper"} +{"subtask_index": 10, "subtask": "Place the glasses case on the red and green build blocks with the left gripper"} +{"subtask_index": 11, "subtask": "Grasp the purple build blocks with the right gripper"} +{"subtask_index": 12, "subtask": "Place the blue build blocks on the yellow build block with the left gripper"} +{"subtask_index": 13, "subtask": "Grasp the glasses case with the left gripper"} +{"subtask_index": 14, "subtask": "Place the green cylindrical build blocks on the green build blocks with the right gripper"} +{"subtask_index": 15, "subtask": "End"} +{"subtask_index": 16, "subtask": "Place the blue build blocks on the pink build block with the left 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accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_block +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks + level1: toys + level2: square_building_blocks + level3: null + level4: null + level5: null +- object_name: block_pillar + level1: toys + level2: block_pillar + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- place the square building blocks in the center with left hand and put the cylindrical + building blocks on top with right hand. +sub_tasks: +- subtask: Grasp the blue build blocks with the left gripper + subtask_index: 0 +- subtask: Grasp the green build blocks with the right gripper + subtask_index: 1 +- subtask: Place the blue build blocks on the Mini table with the left gripper + subtask_index: 2 +- subtask: Place the green build blocks on the blue build block with the right gripper + subtask_index: 3 +- subtask: Grasp the blue diamond shaped build blocks with the right gripper + subtask_index: 4 +- subtask: Grasp the red build blocks with the right gripper + subtask_index: 5 +- subtask: Place the blue diamond shaped build blocks on the glasses case with the + right gripper + subtask_index: 6 +- subtask: Place the purple build blocks on the red build block with the right gripper + subtask_index: 7 +- subtask: Place the green build blocks on the center of the table with the left gripper + subtask_index: 8 +- subtask: Grasp the green build blocks with the left gripper + subtask_index: 9 +- subtask: Place the glasses case on the red and green build blocks with the left + gripper + subtask_index: 10 +- subtask: Grasp the purple build blocks with the right gripper + subtask_index: 11 +- subtask: Place the blue build blocks on the yellow build block with the left gripper + subtask_index: 12 +- subtask: Grasp the glasses case with the left gripper + subtask_index: 13 +- subtask: Place the green cylindrical build blocks on the green build blocks with + the right gripper + subtask_index: 14 +- subtask: End + subtask_index: 15 +- subtask: Place the blue build blocks on the pink build block with the left gripper + subtask_index: 16 +- subtask: Place the red build blocks on the blue build block with the right gripper + subtask_index: 17 +- subtask: Grasp the green cylindrical build blocks with the right gripper + subtask_index: 18 +- subtask: 'null' + subtask_index: 19 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 236 + total_frames: 60925 + fps: 30 + total_tasks: 20 + total_videos: 944 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.00 GB +frame_num: 60925 +dataset_size: 2.00 GB +data_structure: "Airbot_MMK2_stack_block_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| \ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n\ + |-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n\ + | |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| \ + \ |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n\ + | `-- ... (224 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:235 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a34ebaa0f6a4b00bed3e9f32bea27bf659e7320 --- /dev/null +++ b/meta/episodes.jsonl @@ -0,0 +1,236 @@ +{"episode_index": 0, "tasks": ["place the square building blocks in the center with left hand and put the cylindrical building blocks on top with right 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