Copy R1_Lite_tea_service_table_setting into RoboCOIN_useable

R1_Lite_tea_service_table_setting/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

R1_Lite_tea_service_table_setting/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+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
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_tea_service_table_setting
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 109 |
+| **Total Frames** | 107465 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 327 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 4.6GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 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)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+take water kettle tea bags from tray to table then back.
+
+### Sub-Tasks
+This dataset includes 14 distinct subtasks:
+
+1. **Return the tea bag to its original position** 
+2. **Pick up the tea bag** 
+3. **Pick up the tea cup** 
+4. **Return the tea cup to its original position** 
+5. **abnormal** 
+6. **Return the bottled water to its original position** 
+7. **Place it on the right** 
+8. **Return the kettle to its original position** 
+9. **Place it on the left** 
+10. **Place it in front of you** 
+11. **Pick up the kettle** 
+12. **Pick up the bottled water** 
+13. **Place it on the tray** 
+14. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 3 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:108
+
+
+## 📁 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-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 109, "total_frames": 107465, "total_tasks": 1, "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:108"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "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": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "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": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "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": [14], "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", "left_gripper_open", "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", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "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", "left_gripper_open", "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", "right_gripper_open"]}, "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, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_tea_service_table_setting_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 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
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_tea_service_table_setting/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"}

R1_Lite_tea_service_table_setting/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"}

R1_Lite_tea_service_table_setting/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"}

R1_Lite_tea_service_table_setting/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"}

R1_Lite_tea_service_table_setting/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"}

R1_Lite_tea_service_table_setting/annotations/scene_annotations.jsonl

@@ -0,0 +1,110 @@
+{"scene_index": 0, "scene": "The water is at the back, and the kettle is located at the back right."}
+{"scene_index": 1, "scene": "The kettle is at the center, while the water is positioned at the back, right, and back left."}
+{"scene_index": 2, "scene": "The water is at the back, the kettle is on the right, and the tea is also at the back."}
+{"scene_index": 3, "scene": "The water is located at the back right, sharing that position with tea, while the kettle is situated directly behind them."}
+{"scene_index": 4, "scene": "The kettle is located at the back, while the water is positioned towards the back left."}
+{"scene_index": 5, "scene": "The water is located at the back right, while the kettle is positioned on the left."}
+{"scene_index": 6, "scene": "The kettle is positioned at the back right, while both water and tea are located at the back, indicating that all three items are situated in the back area with the kettle slightly to the right."}
+{"scene_index": 7, "scene": "The kettle is located at the back right, while the tea is positioned behind it."}
+{"scene_index": 8, "scene": "The water is positioned at the back, while the tea is also placed at the back twice, and the kettle is located to the right."}
+{"scene_index": 9, "scene": "The kettle is on the left, and the water is in the center."}
+{"scene_index": 10, "scene": "The kettle is at the back right position, while water is located at both the back and right positions, and tea is also placed at the back position."}
+{"scene_index": 11, "scene": "The kettle is at the center, while the two instances of water are both positioned at the back."}
+{"scene_index": 12, "scene": "The water is at the back, the kettle is at the front right, and another water is on the right."}
+{"scene_index": 13, "scene": "The kettle is on the left, there are three water sources positioned in various locations: two at the back right and one at the center."}
+{"scene_index": 14, "scene": "The water is at the back, and the kettle is positioned in the front right."}
+{"scene_index": 15, "scene": "The kettle is located at the center position."}
+{"scene_index": 16, "scene": "The water is positioned at the back right, while the kettle is located at the back."}
+{"scene_index": 17, "scene": "The kettle is positioned at back left, while the water is located at back right, right, and another instance of water is also at back right."}
+{"scene_index": 18, "scene": "The kettle is at the center, while the water is positioned at the back, specifically in the back right area."}
+{"scene_index": 19, "scene": "The kettle is located at the back, while both instances of water are positioned at the back right."}
+{"scene_index": 20, "scene": "The kettle is located at the back, while the tea is positioned at the back right."}
+{"scene_index": 21, "scene": "The two waters and two teas are positioned at the back, while the kettle is on the right."}
+{"scene_index": 22, "scene": "The bags are at front right and front left, the kettle is in the center, and the water is at back and right."}
+{"scene_index": 23, "scene": "The kettle is at the center, while the water is located in the back-right area."}
+{"scene_index": 24, "scene": "The kettle is on the left, and there are two identical water bottles or containers in the center of the scene."}
+{"scene_index": 25, "scene": "The kettle is at the center, water is at the back right, bags are at the front left, and another instance of water is positioned at the back."}
+{"scene_index": 26, "scene": "The kettle is on the right, tea is at the back, and water is in the center."}
+{"scene_index": 27, "scene": "The water is positioned at the back right, with another instance of water on the right, the kettle is placed in the front right, and the tea is located at the back."}
+{"scene_index": 28, "scene": "The kettle is located at the back right position."}
+{"scene_index": 29, "scene": "The kettle is located at the back right position."}
+{"scene_index": 30, "scene": "The water is at the back, there s tea at the back right, another water at the back, and a kettle on the right."}
+{"scene_index": 31, "scene": "The kettle is positioned at the back right location relative to the observer or reference point."}
+{"scene_index": 32, "scene": "The kettle is at the center, while the water is located at the back right and back positions."}
+{"scene_index": 33, "scene": "The two tea sets are at the back, the kettle is on the right, and the water is located at the back left."}
+{"scene_index": 34, "scene": "Each instance of  water  is positioned to the right, and the  kettle  is also located on the right side."}
+{"scene_index": 35, "scene": "The water is at the back and right positions, the kettle is in the front right, and the tea is also at the back."}
+{"scene_index": 36, "scene": "The kettle is positioned at the center."}
+{"scene_index": 37, "scene": "The water is at the back, the kettle is also at the back, the bags are in front on the left, and there s another instance of water at the back."}
+{"scene_index": 38, "scene": "The water is located at the back, and there are two instances of tea also at the back. The kettle is positioned to the right."}
+{"scene_index": 39, "scene": "The kettle is located at the back, while there are two instances of water positioned at the back right area."}
+{"scene_index": 40, "scene": "Water is located at the back right with another instance also there The kettle is positioned at the back and tea is situated at the back right as well"}
+{"scene_index": 41, "scene": "The water is in the back, tea is also in the back, kettle is on the right."}
+{"scene_index": 42, "scene": "The kettle is on the left, water is on the right, and another instance of water is at the back."}
+{"scene_index": 43, "scene": "The kettle is located at the back, while both teas are positioned in the back right area."}
+{"scene_index": 44, "scene": "The tea is at the back, water is in the center, the kettle is at the front right, another water is in the center, and a third water is on the right."}
+{"scene_index": 45, "scene": "The kettle is positioned at the back, while the water is located to the right. Additionally, there are bags placed in three positions: front left, center, and back left."}
+{"scene_index": 46, "scene": "The water is at the back, with three instances in the same position, and the kettle is located at the back left."}
+{"scene_index": 47, "scene": "The kettle is positioned at the back, while water and tea are both located at the back right. The bags are placed at the front left."}
+{"scene_index": 48, "scene": "The two waters are both located at the back right, while the kettle is positioned at the back (with no specified side), and the tea is also at the back."}
+{"scene_index": 49, "scene": "The bags are on the front left and front right, the kettle is in the center, and the water is at the back and on the right."}
+{"scene_index": 50, "scene": "The kettle is on the right, with water behind it to its right."}
+{"scene_index": 51, "scene": "The tea is located at the back right, the water is in the center, and the kettle is positioned at the front right."}
+{"scene_index": 52, "scene": "Bags are located in front right, front left (x2), and front left. Water is stored at the back and right. The kettle is placed in the center."}
+{"scene_index": 53, "scene": "The bags are at the front right and front left positions, the kettle is in the center, and there are multiple waters located at the back, back, and right positions."}
+{"scene_index": 54, "scene": "The bags are at the front left, the kettle is in the center, and two water objects are located at the back right."}
+{"scene_index": 55, "scene": "The water is at the back and right positions, the tea is at the back and back positions, and the kettle is at the right position."}
+{"scene_index": 56, "scene": "The kettle is positioned on the right side, while both the tea (first instance) and water are located at the back."}
+{"scene_index": 57, "scene": "The kettle is positioned at the back left, while the water is located at both the back and the right positions."}
+{"scene_index": 58, "scene": "The kettle is at the center, while both instances of water are positioned at the back right."}
+{"scene_index": 59, "scene": "The kettle is at the back, while both tea and water are located at the back right."}
+{"scene_index": 60, "scene": "The kettle is placed at the back, while the tea is positioned to the right."}
+{"scene_index": 61, "scene": "Water is located at the back right. Kettle is positioned at the back. Tea is situated at the back right and also at the back."}
+{"scene_index": 62, "scene": "The kettle is on the left, water is on the right, and there s another instance of water in the center."}
+{"scene_index": 63, "scene": "The kettle is located at the back right, with water positioned at the back and another instance of water also placed at the back right."}
+{"scene_index": 64, "scene": "The kettle is located at the back right position."}
+{"scene_index": 65, "scene": "The water is located at the back, while the kettle is positioned at the back right."}
+{"scene_index": 66, "scene": "The water is at the back, the kettle is in the front-right position, and both teapots are located at the back."}
+{"scene_index": 67, "scene": "The kettle is at the back, water is at the back left and right, bags are in the center and front left."}
+{"scene_index": 68, "scene": "The user has provided no specific list of objects to annotate, so I am unable to generate a summary at this time. Please provide the list of objects you d like me to describe."}
+{"scene_index": 69, "scene": "The kettle is located at the back right position."}
+{"scene_index": 70, "scene": "The kettle is on the right side."}
+{"scene_index": 71, "scene": "The kettle is at the center, while the water is located at the back (both to the right and left positions)."}
+{"scene_index": 72, "scene": "The kettle is on the right, and there are three instances of water located at the back right and right positions."}
+{"scene_index": 73, "scene": "The kettle is positioned at the center, while the water is located to its right."}
+{"scene_index": 74, "scene": "The kettle is positioned at the center, while two separate water containers are located at the back left and the right sides respectively."}
+{"scene_index": 75, "scene": "Water is located at back right and back positions; kettle is at back; bags are at front left."}
+{"scene_index": 76, "scene": "The kettle is on the left, and the waters are positioned at the back right, back right again, and center."}
+{"scene_index": 77, "scene": "The water is located at the back right, while the kettle is positioned in the center."}
+{"scene_index": 78, "scene": "Water is at the back and right positions, while tea is also at the back. The kettle is positioned on the right."}
+{"scene_index": 79, "scene": "The kettle is positioned at the back left, while water is located at both the back and the right positions."}
+{"scene_index": 80, "scene": "The water is at the back right, the kettle is at the back, and both tea and the other water are also at the back."}
+{"scene_index": 81, "scene": "The kettle is positioned at the back right, while the water is located at the back, with no specific positional relationship between them."}
+{"scene_index": 82, "scene": "The kettle is positioned at the back, while there are two instances of water located to the right and center respectively."}
+{"scene_index": 83, "scene": "The bags are positioned at both the front left and front right, while the kettle is in the center. The water is located at the back and on the right side."}
+{"scene_index": 84, "scene": "The kettle is positioned at the back right, while the two bottles of water are both located at the back but separate from each other."}
+{"scene_index": 85, "scene": "The water is in the back right, the kettle is in the back, the tea is in the back right, and the bags are in the front left."}
+{"scene_index": 86, "scene": "The kettle is located at the back right position relative to the reference point."}
+{"scene_index": 87, "scene": "The kettle is at the back, while both teapots are positioned back right."}
+{"scene_index": 88, "scene": "The kettle is at the back right, while water, tea, and another instance of water are all located at the back."}
+{"scene_index": 89, "scene": "The kettle is located at the back position."}
+{"scene_index": 90, "scene": "The kettle is located at the back right position."}
+{"scene_index": 91, "scene": "The kettle is at the center, while there are two instances of water located at the back and to the right."}
+{"scene_index": 92, "scene": "The kettle is located at the back right, while the water is positioned at both the back and back right."}
+{"scene_index": 93, "scene": "The water is at the back right, the kettle is at the back, the bags are at the front left, and the tea is also at the back right."}
+{"scene_index": 94, "scene": "The water is centered, two kettles are at the front right and back right, two teapots are also at the back right, and two additional waters are on the right side."}
+{"scene_index": 95, "scene": "The kettle is on the left, the water is behind it, and another instance of water is to its right."}
+{"scene_index": 96, "scene": "The kettle is at the back, the water is on the right, the bags are in front-left, and another water is at back-left."}
+{"scene_index": 97, "scene": "The water is positioned at the back right, while the kettle is on the right side, with another instance of water also located on the right."}
+{"scene_index": 98, "scene": "The kettle is located at the back-left position, while the water is positioned at the back, with no direct interaction between them."}
+{"scene_index": 99, "scene": "Kettle is at the back. Water is on the right and also at the back left. Bags are in the center, front left, and this was mentioned twice."}
+{"scene_index": 100, "scene": "The kettle is positioned on the right side, with water also located on the right."}
+{"scene_index": 101, "scene": "The water is at the back right, the kettle is at the back, another instance of water is also at the back right, and the tea is at the back."}
+{"scene_index": 102, "scene": "The water is at the back, and the kettle is on the right side."}
+{"scene_index": 103, "scene": "The kettle is located at the back position."}
+{"scene_index": 104, "scene": "The kettle is at the center, while the water bottles are positioned to the back, one on the right and another on the back left."}
+{"scene_index": 105, "scene": "Bags are located at front right and front left kettle is placed in center water is positioned at back right."}
+{"scene_index": 106, "scene": "The kettle is at the back, the two waters are on the right, and the bags are in the front left."}
+{"scene_index": 107, "scene": "The kettle is at the back, the water is on the right, and there s also a water in the center."}
+{"scene_index": 108, "scene": "The kettle is at the center, while the water bottles are positioned at the back and back right."}
+{"scene_index": 109, "scene": "The kettle is positioned to the right, while the tea is located at the back. Additionally, there are multiple instances of water also placed at the back."}

R1_Lite_tea_service_table_setting/annotations/subtask_annotations.jsonl

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+{"subtask_index": 0, "subtask": "Return the tea bag to its original position"}
+{"subtask_index": 1, "subtask": "Pick up the tea bag"}
+{"subtask_index": 2, "subtask": "Pick up the tea cup"}
+{"subtask_index": 3, "subtask": "Return the tea cup to its original position"}
+{"subtask_index": 4, "subtask": "abnormal"}
+{"subtask_index": 5, "subtask": "Return the bottled water to its original position"}
+{"subtask_index": 6, "subtask": "Place it on the right"}
+{"subtask_index": 7, "subtask": "Return the kettle to its original position"}
+{"subtask_index": 8, "subtask": "Place it on the left"}
+{"subtask_index": 9, "subtask": "Place it in front of you"}
+{"subtask_index": 10, "subtask": "Pick up the kettle"}
+{"subtask_index": 11, "subtask": "Pick up the bottled water"}
+{"subtask_index": 12, "subtask": "Place it on the tray"}
+{"subtask_index": 13, "subtask": "null"}

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