Copy R1_Lite_move_the_position_of_the_triangle_bread into RoboCOIN_useable

R1_Lite_move_the_position_of_the_triangle_bread/.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
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.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_move_the_position_of_the_triangle_bread/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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_triangle_bread
+
+## 📋 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:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 40 |
+| **Total Frames** | 8540 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 160 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 300.1MB |
+
+
+## 👥 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
+put the triangle bread the designated position.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Grasp the pizza with right gripper** 
+2. **Static** 
+3. **Place the pizza on the table with right gripper** 
+4. **End** 
+5. **Grasp the pizza with left gripper** 
+6. **Place the pizza on the table with left gripper** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 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 0:39
+
+
+## 📁 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_left_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_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": 40, "total_frames": 8540, "total_tasks": 1, "total_videos": 160, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:39"}, "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_left_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_high_right_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": [16], "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_arm_joint_7_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", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [18], "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_arm_joint_7_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", "right_arm_joint_7_rad", "left_gripper_open", "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_move_the_position_of_the_triangle_bread_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_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_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_move_the_position_of_the_triangle_bread/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_move_the_position_of_the_triangle_bread/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_move_the_position_of_the_triangle_bread/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_move_the_position_of_the_triangle_bread/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_move_the_position_of_the_triangle_bread/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_move_the_position_of_the_triangle_bread/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 1, "scene": "The two triangle breads are both positioned at the back right."}
+{"scene_index": 2, "scene": "The triangle bread is on the left side."}
+{"scene_index": 3, "scene": "The three triangle breads are all positioned at the back, with two specifically located in the back right area."}
+{"scene_index": 4, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 5, "scene": "The triangle bread is positioned on the left side."}
+{"scene_index": 6, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 7, "scene": "The triangle bread is located at the back and also on the left side."}
+{"scene_index": 8, "scene": "The triangle bread is located at the back right and back left positions."}
+{"scene_index": 9, "scene": "The two triangle breads are both located at the back right position."}
+{"scene_index": 10, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 11, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 12, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 13, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 14, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 15, "scene": "The triangle bread is positioned on the right side."}
+{"scene_index": 16, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 17, "scene": "The two triangle breads are placed at the back right and left positions."}
+{"scene_index": 18, "scene": "The two triangle breads are positioned at the back."}
+{"scene_index": 19, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 20, "scene": "The two triangle breads are positioned on the table, with one located to the right side and the other situated at the back left corner."}
+{"scene_index": 21, "scene": "The triangle bread is positioned to the left, front right, and back."}
+{"scene_index": 22, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 23, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 24, "scene": "The two triangle breads are positioned on the back side, with one located to the right and the other to the left."}
+{"scene_index": 25, "scene": "Each triangle bread is positioned at different locations relative to each other."}
+{"scene_index": 26, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 27, "scene": "The three triangle breads are positioned at the back right, back left, and front right of the scene."}
+{"scene_index": 28, "scene": "The triangle-shaped bread is positioned at the back left location."}
+{"scene_index": 29, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 30, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 31, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 32, "scene": "The triangle bread is located at the back left, while another triangle bread is positioned centrally, with both sharing a spatial relationship defined by their respective locations."}
+{"scene_index": 33, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 34, "scene": "Each  triangle bread  is placed at the back right, while the  triangle  is positioned on the right."}
+{"scene_index": 35, "scene": "Triangle bread is at center, another triangle bread is at right, and a triangle (likely unrelated to the bread) is at back left."}
+{"scene_index": 36, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 37, "scene": "The three triangle bread pieces are positioned to the right, with one additionally located at the back."}
+{"scene_index": 38, "scene": "The two triangle breads are positioned diagonally opposite to each other on the table, with one located to the right side and the other placed at the back-left corner."}
+{"scene_index": 39, "scene": "The four triangle bread pieces are located in various positions: two at the back (left and center-back), one on the right side near the back, and another positioned diagonally towards the back-right."}
+{"scene_index": 40, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 41, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 42, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 43, "scene": "Each  triangle bread  is positioned on the right side; two are at the back, with one specifically located at the back right."}
+{"scene_index": 44, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 45, "scene": "The triangle bread is at the back right, another triangle bread is in the center, and a separate triangle is positioned at the back."}
+{"scene_index": 46, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 47, "scene": "The triangle bread is centered, while another triangle bread is located at the back left."}
+{"scene_index": 48, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 49, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 50, "scene": "The two triangle breads are positioned at back right and left, respectively."}
+{"scene_index": 51, "scene": "The triangle bread is on the left, while another triangle bread is located at the back right position."}
+{"scene_index": 52, "scene": "The two triangle breads are both located at the back position."}
+{"scene_index": 53, "scene": "The two triangle breads are both located at the back, with one positioned to the right."}
+{"scene_index": 54, "scene": "The triangle bread is located at the back left and another triangle bread is at the right."}
+{"scene_index": 55, "scene": "The triangle bread is at the back and on the left."}
+{"scene_index": 56, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 57, "scene": "The triangle bread is positioned at the back left."}
+{"scene_index": 58, "scene": "The triangle bread is at the back, and the other triangle bread is located at the back left position."}
+{"scene_index": 59, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 60, "scene": "The triangle bread is at the back, and the triangle is positioned at the back right relative to it."}
+{"scene_index": 61, "scene": "Each  triangle bread  is positioned at the back, with one specifically located at the back left."}
+{"scene_index": 62, "scene": "The two triangle breads are placed on the right side, with one located slightly further back compared to the other."}
+{"scene_index": 63, "scene": "Triangle bread is located at the back right, at the right side, and at the back left."}
+{"scene_index": 64, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 65, "scene": "The triangle bread is positioned at the back left."}
+{"scene_index": 66, "scene": "The triangle bread is positioned at both the back right and the back."}
+{"scene_index": 67, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 68, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 69, "scene": "The triangle bread is located at both the back right position and the back position relative to the other objects."}
+{"scene_index": 70, "scene": "The triangle bread is at the back, the other triangle bread is on the right, and the third triangle bread is in the center."}
+{"scene_index": 71, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 72, "scene": "Each triangle-shaped bread is positioned on either the back left or the left side."}
+{"scene_index": 73, "scene": "Three triangle breads are positioned at the center, back right, and right sides relative to the main focus of the image."}
+{"scene_index": 74, "scene": "The triangle bread is located to the right, while another triangle bread is positioned at the back right."}
+{"scene_index": 75, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 76, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 77, "scene": "The triangle-shaped bread is positioned at the back left location."}
+{"scene_index": 78, "scene": "Two triangle breads are placed diagonally apart, one at the back left and the other at the front right."}
+{"scene_index": 79, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 80, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 81, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 82, "scene": "The two triangle breads are positioned with one at the back right and the other on the left."}
+{"scene_index": 83, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 84, "scene": "The two triangle breads are both located at the back right position."}
+{"scene_index": 85, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 86, "scene": "The triangle bread is located at the back, with another triangle bread positioned slightly to the back right."}
+{"scene_index": 87, "scene": "The triangle bread on the left is positioned to the left, while the triangle bread on the right is positioned to the right."}
+{"scene_index": 88, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 89, "scene": "The triangle-shaped bread is located at the back-right position on the plate."}
+{"scene_index": 90, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 91, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 92, "scene": "Each  triangle bread  is positioned either in the back left or left, with three instances located at back left and one at left."}
+{"scene_index": 93, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 94, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 95, "scene": "The triangle bread is positioned at the back left, while another triangle bread is located to the left."}
+{"scene_index": 96, "scene": "The triangle bread is located at the back of the image, with another triangle bread positioned slightly to the right side of the back area."}
+{"scene_index": 97, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 98, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 99, "scene": "The two triangle breads are positioned diagonally opposite to each other, one located at the back right corner and the other placed towards the left side."}
+{"scene_index": 100, "scene": "Both triangles of bread are located at the back."}
+{"scene_index": 101, "scene": "The triangle bread is positioned to the left, back right, right, back left, and back."}
+{"scene_index": 102, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 103, "scene": "The triangle bread is located at the back, with another triangle bread positioned slightly to the back left."}
+{"scene_index": 104, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 105, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 106, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 107, "scene": "The triangle bread is centered, while another triangle bread is positioned at the back right."}
+{"scene_index": 108, "scene": "The two triangle breads are positioned at the back left and back right."}
+{"scene_index": 109, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 110, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 111, "scene": "The triangle bread is at the back, while another triangle bread is centered in front of it."}
+{"scene_index": 112, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 113, "scene": "The two triangle breads are both positioned at the back."}
+{"scene_index": 114, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 115, "scene": "The triangle bread is positioned at the back left."}
+{"scene_index": 116, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 117, "scene": "Each  triangle  is positioned at either the right or back right of its respective bread."}
+{"scene_index": 118, "scene": "The triangle bread is at the back right position, and there s another triangle bread located at the back position."}
+{"scene_index": 119, "scene": "The triangle bread is at the center, and another triangle bread is located at the back right, with both sharing a common visual theme but placed in different positions within the composition."}
+{"scene_index": 120, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 121, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 122, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 123, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 124, "scene": "The triangle bread is positioned at both the back right and right sides."}
+{"scene_index": 125, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 126, "scene": "Each triangle bread is positioned either at the back left or one of the back right locations, with two occupying the back right."}
+{"scene_index": 127, "scene": "The triangle-shaped bread is positioned to the right."}
+{"scene_index": 128, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 129, "scene": "The triangle bread is positioned to the right."}
+{"scene_index": 130, "scene": "The triangle-shaped bread is positioned at the back left location."}
+{"scene_index": 131, "scene": "The triangle bread is located on the left side, while the other triangle bread is positioned at the back."}
+{"scene_index": 132, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 133, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 134, "scene": "The triangle-shaped bread is located at the back left position."}
+{"scene_index": 135, "scene": "The triangle bread is located on the right side, with another triangle bread situated at the back right area."}
+{"scene_index": 136, "scene": "The triangle bread is located at both the back right and center positions."}
+{"scene_index": 137, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 138, "scene": "The triangle-shaped bread is located at the back-right position on the plate."}
+{"scene_index": 139, "scene": "The triangle bread is positioned to the right and also located at the back."}
+{"scene_index": 140, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 141, "scene": "Both triangle breads are located in the back-left position."}
+{"scene_index": 142, "scene": "The triangle bread is positioned at the back left."}
+{"scene_index": 143, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 144, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 145, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 146, "scene": "The two triangle breads are positioned at the back right and center of the arrangement."}
+{"scene_index": 147, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 148, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 149, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 150, "scene": "The triangle-shaped bread is positioned at the back."}
+{"scene_index": 151, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 152, "scene": "The triangle breads are positioned at the back, center, and front right."}
+{"scene_index": 153, "scene": "The triangle bread is positioned at both the back left and back locations."}
+{"scene_index": 154, "scene": "Both triangle breads are located at the back position."}
+{"scene_index": 155, "scene": "The triangle breads are placed at the back right, with two additional triangle breads positioned behind them."}
+{"scene_index": 156, "scene": "The three triangle bread pieces are positioned at the back right, right, and back locations."}
+{"scene_index": 157, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 158, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 159, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 160, "scene": "The triangle-shaped bread is positioned on the left side."}
+{"scene_index": 161, "scene": "The triangle-shaped bread is positioned at the back left location."}
+{"scene_index": 162, "scene": "Triangle Bread is located at Back Left and also situated at Right. Triangle is positioned at Back Right."}
+{"scene_index": 163, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 164, "scene": "The two triangle breads are both located in the back right position."}
+{"scene_index": 165, "scene": "The triangle-shaped bread is positioned on the left side."}
+{"scene_index": 166, "scene": "The triangle-shaped bread is positioned on the left side."}
+{"scene_index": 167, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 168, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 169, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 170, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 171, "scene": "The triangle bread is located behind, while the other triangle bread is positioned at the front on the right side."}
+{"scene_index": 172, "scene": "The triangle-shaped bread is positioned on the right side."}
+{"scene_index": 173, "scene": "The two triangle breads are positioned at the back left and back right locations."}
+{"scene_index": 174, "scene": "The two triangle breads are positioned at the back and right sides relative to each other."}
+{"scene_index": 175, "scene": "The triangle bread is positioned at the back, while another triangle bread is located towards the back left."}
+{"scene_index": 176, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 177, "scene": "The triangle-shaped bread is positioned at the center."}
+{"scene_index": 178, "scene": "The triangle bread is located at the back right position."}
+{"scene_index": 179, "scene": "The triangle bread is positioned to the right, while another triangle bread is placed centrally."}
+{"scene_index": 180, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 181, "scene": "The triangle-shaped bread is located at the back-right position."}
+{"scene_index": 182, "scene": "The triangle bread is positioned on the left side."}
+{"scene_index": 183, "scene": "The triangle bread is located at the back position."}
+{"scene_index": 184, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 185, "scene": "The triangle bread is positioned on the left side."}
+{"scene_index": 186, "scene": "There are two triangle-shaped loaves of bread placed on the right side."}
+{"scene_index": 187, "scene": "The triangle-shaped bread is located at the back left position."}
+{"scene_index": 188, "scene": "The triangle-shaped bread is located at the back left position."}
+{"scene_index": 189, "scene": "The triangle-shaped bread is located at the back position."}
+{"scene_index": 190, "scene": "The triangle bread is positioned at the back right, while another triangle bread is also located at the back but without a specific side indicated."}
+{"scene_index": 191, "scene": "The triangle bread is located at the back right."}
+{"scene_index": 192, "scene": "The triangle-shaped bread is located at the back left position."}
+{"scene_index": 193, "scene": "The two triangle breads are positioned diagonally opposite each other, with one located at the back left and the other at the front right of the scene."}
+{"scene_index": 194, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 195, "scene": "The triangle-shaped bread is located at the back-right position on the plate."}
+{"scene_index": 196, "scene": "The triangle bread at the back right is positioned behind and to the right of the triangle bread in the center."}
+{"scene_index": 197, "scene": "The triangle bread is positioned at the center."}
+{"scene_index": 198, "scene": "The triangle-shaped bread is located at the back-left position."}
+{"scene_index": 199, "scene": "All three triangle breads are positioned at the back of the space, with two specifically located in the back-right area."}

R1_Lite_move_the_position_of_the_triangle_bread/annotations/subtask_annotations.jsonl

@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Grasp the pizza with right gripper"}
+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "Place the pizza on the table with right gripper"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Grasp the pizza with left gripper"}
+{"subtask_index": 5, "subtask": "Place the pizza on the table with left gripper"}
+{"subtask_index": 6, "subtask": "null"}

R1_Lite_move_the_position_of_the_triangle_bread/annotations/subtasks.jsonl

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+{"subtask_index": 0, "subtask": "Grasp the pizza with left gripper"}
+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "Place the pizza on the table with left gripper"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Grasp the pizza with right gripper"}
+{"subtask_index": 5, "subtask": "Place the pizza on the table with right gripper"}
+{"subtask_index": 6, "subtask": "null"}

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