diff --git a/AIRBOT_MMK2_stacking_blocks/.gitattributes b/AIRBOT_MMK2_stacking_blocks/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/.gitattributes @@ -0,0 +1,59 @@ +*.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 diff --git a/AIRBOT_MMK2_stacking_blocks/README.md b/AIRBOT_MMK2_stacking_blocks/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bf903b87a5f8501f24cf34c72c432322366875ad --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/README.md @@ -0,0 +1,348 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”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: 10K-100K + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# AIRBOT_MMK2_stacking_blocks + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `discover_robotics_aitbot_mmk2` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `five_finger_hand` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 213 | +| **Total Frames** | 52766 | +| **Total Tasks** | 5 | +| **Total Videos** | 852 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 2.2GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +Pick up the red rectangular block from one side of the table with one hand and place it in the center, then pick up the blue hexagonal wooden block from the other side with your other hand and place it on top of the red block. +Move the large block from one side to the center with one hand, and stack the small blocks on top of it with your other hand. +Pick up a block from the table with one hand and place it on the blocks, then pick up another block from the table with your other hand and place it on the blocks. +Pick up the blue cube from one side of the table with one hand and place it on top of the yellow cube in the middle, then pick up the green cube from the other side with your other hand and place it on top of the blue cube. +Pick up the blue cube from the table with one hand and place it on the small table, then pick up the red cube from the table with your other hand and place it on top of the blue cube. + +### Sub-Tasks +This dataset includes 25 distinct subtasks: + +1. **Place the yellow cube on the orange cube with the right gripper** +2. **Static** +3. **Grasp the blue rhombic cuboid block with the right gripper** +4. **Grasp the red cuboid block with the left gripper** +5. **Grasp the blue small cube with the left gripper** +6. **Place the red small cube on the blue small cube with the right gripper** +7. **Place the red cuboid block in the center of view with the left gripper** +8. **Grasp the big red cube with the left gripper** +9. **Abnormal** +10. **Place the orange cube on the yellow cube with the right gripper** +11. **Place the green small cube on the blue small cube with the right gripper** +12. **Grasp the green small cube with the right gripper** +13. **Grasp the red small cube with the right gripper** +14. **Grasp the blue cube with the right gripper** +15. **Place the blue cube on the red cube with the left gripper** +16. **Grasp the orange cube with the right gripper** +17. **Grasp the blue cube with the left gripper** +18. **Place the blue small cube on the small table with the left gripper** +19. **End** +20. **Place the blue rhombic cuboid block on the red cuboid block with the right gripper** +21. **Place the blue small cube on the yellow small cube with the left gripper** +22. **Place the big red cube in the center of view with the left gripper** +23. **Grasp the yellow cube with the right gripper** +24. **Place theblue cube on the big red cube with the right gripper** +25. **null** + + +## πŸŽ₯ 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 + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:212 + + +## πŸ“ 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- **observation.images.cam_third_view**: 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 + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 213, "total_frames": 52766, "total_tasks": 5, "total_videos": 852, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:212"}, "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": [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_third_view": {"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, "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]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +AIRBOT_MMK2_stacking_blocks_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_right_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_third_view/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž 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. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š 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 + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/AIRBOT_MMK2_stacking_blocks/annotations/eef_acc_mag_annotation.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/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/AIRBOT_MMK2_stacking_blocks/annotations/eef_direction_annotation.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/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/AIRBOT_MMK2_stacking_blocks/annotations/eef_velocity_annotation.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/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/AIRBOT_MMK2_stacking_blocks/annotations/gripper_activity_annotation.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/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/AIRBOT_MMK2_stacking_blocks/annotations/gripper_mode_annotation.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/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/AIRBOT_MMK2_stacking_blocks/annotations/scene_annotations.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b0980bb538596995662864f04daa00a66e57b00 --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/annotations/scene_annotations.jsonl @@ -0,0 +1,224 @@ +{"scene_index": 0, "scene": "Small table at center. Red rectangular block on the right. Yellow cube at back right. Blue hexagonal wooden block at front left. Red cube at back left. Blue hexagonal wooden block on the left. Red cube and red rectangular block at the back. Large block at front. Green cube at front and back right."} +{"scene_index": 1, "scene": "Blue cube and blue hexagonal wooden block are at the back left, large yellow cube is on the right, green cube is in front, yellow cube is in the center, small table is also in the center, red rectangular block is at the back left, red cube and red rectangular block are at the front right and front left respectively, and a block is at the back right."} +{"scene_index": 2, "scene": "A blue hexagonal wooden block is on the left. A red cube and a red rectangular block are at front right. A yellow cube is on the right. A blue cube is at back left. A red cube and a red rectangular block are at front left. A small table is in the center. A green cube is on the left."} +{"scene_index": 3, "scene": "The yellow cube is on the right, the red cube (red rectangular block) is in front-right, the blue cube (blue hexagonal wooden block) is at back-left, the small table is at center, the green cube is in front-right, and the red cube (red rectangular block) is in front-left."} +{"scene_index": 4, "scene": "The large yellow cube is on the right, the green cube is in front, the small yellow cube is at the center, a blue hexagonal wooden block is at the back, a red rectangular block is at the front right, another red rectangular block is at the front left, a red rectangular block is at the back left, and a block is at the back right."} +{"scene_index": 5, "scene": "Red cube and red rectangular block are both in front left. Blue hexagonal wooden block is on the right. Green cube is in front left. Yellow cube is in front right. Blue cube is in front left. Small blocks are in front right."} +{"scene_index": 6, "scene": "The red cube is on front left. The red rectangular block is on front left. The blue hexagonal wooden block is on front right. The small blocks are on front right. The blue cube is on left. The green cube is on left."} +{"scene_index": 7, "scene": "The blue hexagonal wooden block is in the front right, and there are small blocks also in the front right. The red cube and red rectangular block are together in the front left. Additionally, there s a blue cube on the left."} +{"scene_index": 8, "scene": "The blue hexagonal wooden block is positioned at the back left with a blue object also at back left. The yellow cube is in the center, alongside a small table also centered. A large yellow cube is on the right. The green cube and red rectangular blocks are both at the front, with the red cube at front right. Additionally, a red rectangular block is at front left, another red cube red rectangular block is at front right, and a block is placed at back right."} +{"scene_index": 9, "scene": "The large block yellow cube is positioned to the right. The blue cube and blue hexagonal wooden block are located at the back. The green cube is placed in front. The yellow cube is situated at the center. The red cube and red rectangular block are positioned at the front left. Another red rectangular block is placed at the back left. The red cube and red rectangular block are also positioned at the front right. The small table is located at the center. The blue cube is at the back. The blue cube is also positioned at the back left."} +{"scene_index": 10, "scene": "Red cube is in front left. Red rectangular block is also in front left with the red cube. Blue hexagonal wooden block and yellow cube are both in front right. Green cube and blue cube green cube are both on the left side. Small blocks are in front right as well."} +{"scene_index": 11, "scene": "The small table is at the front-left, with a red cube on its left side. On the table s right side, there s a blue hexagonal wooden block. Also on the left, there s a blue cube and a green cube positioned together."} +{"scene_index": 12, "scene": "The small table is at the center. A large block is in front of it, and a green cube is also in front, positioned to the left. A red rectangular block is on the back side, near the right. Another red cube is at the back left, alongside a yellow cube. A blue cube and a hexagonal wooden block are placed together on the left. Additionally, there s another green cube located at the back right and a cube in front left."} +{"scene_index": 13, "scene": "Yellow Cube is positioned on the right. Blue Hexagonal Wooden Block is positioned at the back left. Red Cube and Red Rectangular Block are both positioned at the front, one on the right and the other on the left. Small Table is positioned in the center. Green Cube is positioned on the left. Blue Cube and Green Cube are positioned on the left."} +{"scene_index": 14, "scene": "A red cube is on the left. A red rectangular block is on the left and paired with a red cube. A blue hexagonal wooden block is on the right. A blue cube is on the left. A green cube is on the left. A yellow cube is in front and to the right. A cube is in front and to the right, paired with a yellow cube as small blocks."} +{"scene_index": 15, "scene": "Yellow Cube is right. Small Table is center. Blue Hexagonal Wooden Block is left. Red Cube Red Rectangular Block is front right. Small Blocks are front. Red Cube Red Rectangular Block is front left. Green Cube is left."} +{"scene_index": 16, "scene": "The red cube is on the left, positioned with the blue hexagonal wooden block in front of it to the right."} +{"scene_index": 17, "scene": "Small table is at the center. Green cube and green object are both on the left. Blue hexagonal wooden block is on the left. Red cube and red rectangular block are on the front right and front left, respectively. Yellow cube is on the right."} +{"scene_index": 18, "scene": "The yellow cube is at the back right, the red rectangular block is on the right, the red red rectangular block is at the back, the red cube is at the back left, the green cube is at the front, the small table is in the center, the large block small table is at the front, and the blue cube blue hexagonal wooden block is at the front left."} +{"scene_index": 19, "scene": "Yellow cube is at the back right; red rectangular block is at the right; small table is in the center; blue hexagonal wooden block is on the left; red cube is at the back left; red cube and red rectangular block are both at the back; large block is at the front; blue cube is at the front left; green cube is at the front; green cube is also at the back right."} +{"scene_index": 20, "scene": "The blue cube is on the left side, the red cube and red rectangular block are both on the left, the blue hexagonal wooden block is in the front-right position, the green cube is in the front-left position, and the small table is also in the front-right position."} +{"scene_index": 21, "scene": "The small table is at the center. The yellow cube is in the back-right corner. The red rectangular block is on the right side. The red cube and red rectangular block are both positioned at the back. The blue cube and hexagonal wooden block, which are blue, are on the left. The large block is at the front. There are two green cubes: one in the front and another in the back-right corner. The blue cube is also mentioned to be in the front-left position."} +{"scene_index": 22, "scene": "Red cube (back left), red rectangular block (back left) are at the same position, small table is at the center, blue hexagonal wooden block is at front, yellow cube and green cube are both at back right; however, one is a yellow cube and the other is a green cube, blue cube is at front left, green cube (back left) is another instance of a green cube positioned differently from the one at back right, small blocks are at center with the small table, red cube is also at back right."} +{"scene_index": 23, "scene": "The small table is at the center, with a yellow cube and two green cubes positioned at the back right corner, one red rectangular block at the back left, another red rectangular block on the left side, a blue cube and a blue hexagonal wooden block on the right, and a green cube at the front right."} +{"scene_index": 24, "scene": "Blue hexagonal wooden block is back left Yellow cube is front right Red cube rectangular block is back right Blue cube is back left Red cube rectangular block is front left Green cube is left Small table is center Large object is front right Green cube is left"} +{"scene_index": 25, "scene": "The red cube is on the left near a red rectangular block, a blue cube and a blue hexagonal wooden block are positioned at front right, and a green cube and a yellow object are located at front left."} +{"scene_index": 26, "scene": "The small table is at the center. The yellow cube is located at the back right. The red rectangular block is on the right side. There are two blue hexagonal wooden blocks; one is blue and positioned at the front left, and the other is also blue but placed at the left. The large block is in the front. The red cube is at the back left. Additionally, there are two green cubes; one is at the front, and another is at the back right."} +{"scene_index": 27, "scene": "The blue hexagonal wooden block is at front right on the small table with the yellow cube. The red cube and red rectangular block are on the left. The blue cube and green cube are at front left."} +{"scene_index": 28, "scene": "small table is at center yellow cube is at back right blue hexagonal wooden block is at left red rectangular block is at right blue cube is at front left red cube is at back left large block is at front green cube is at front red rectangular block is at back green cube is at back right"} +{"scene_index": 29, "scene": "Small table is at the center. Yellow cube is at back right. Red rectangular block is at right. Blue cube blue hexagonal wooden block is at front left and left. Red cube is at back left. Large block is at front. Red red rectangular block is at back. Green cubes are at front, front left, and back right."} +{"scene_index": 30, "scene": "The large yellow cube is on the right, the green cube is in front, the yellow cube is at the center, the blue hexagonal wooden block is at the back, the red rectangular blocks are positioned at front right and front left, another red rectangular block is at the back left, and a small table is at the center."} +{"scene_index": 31, "scene": "A small table is at the center, a red rectangular block is in the back left, a blue hexagonal wooden block is in the front right, a yellow cube is in the back right, a blue cube and a blue hexagonal wooden block are on the left, a green cube is in the back right, another green cube is on the right, a third green cube is in the back left, small blocks are at the center, a red cube is in the back right."} +{"scene_index": 32, "scene": "A large yellow cube is on the right, green cube is in front, yellow cube is at center, red rectangular block is at back left, red cube (rectangular) is at front right, small table is at center, red cube (rectangular) is at front left, blue cube (hexagonal wooden) is at back, block is at back right, and blue cube is at back."} +{"scene_index": 33, "scene": "Red Cube and Red Rectangular Block are both on the left Blue Hexagonal Wooden Block is in the front-right with Yellow Cube Green Cube is on the left with Blue Cube and Green Cube"} +{"scene_index": 34, "scene": "The small table is at the center. The red rectangular block is on the right. The yellow cube is at the back right. The red cube is at the back left. The blue hexagonal wooden block is at the front left. The red cube and red rectangular block are at the back. The large block is at the front. The green cube is at the front and back right."} +{"scene_index": 35, "scene": "Small table is centered. Red rectangular block is at back left. Blue cube and blue hexagonal wooden block are on the right. Yellow cube is at back right. Green cube is at back. Blue hexagonal wooden block is at front. Red cube is at back left. Red rectangular block is at back right. Small blocks are at back right. Green cube is at front left."} +{"scene_index": 36, "scene": "Red cube and red rectangular block are at the back left, small table is in the center, blue cube and blue hexagonal wooden block are at the front, yellow cube is at the back right, another blue hexagonal wooden block is on the left, a blue cube, which is also hexagonal, is at the front left, green cube is at the back right, another green cube is on the right, small blocks are in the center, and cube is at the back right."} +{"scene_index": 37, "scene": "A large yellow cube is positioned on the right, the green cube is located in front, a blue hexagonal wooden block is placed at the back, the yellow cube is in the center, a red rectangular block is positioned at the back left, another red cube with a rectangular shape is placed at the front left, and finally, a small table is situated in the center."} +{"scene_index": 38, "scene": "small table (center) yellow cube (back right) red rectangular block (right) blue cube blue hexagonal wooden block (front left) red red rectangular block (back) red cube (back left) large block (front) green cube (front) green cube (back right)"} +{"scene_index": 39, "scene": "Red red rectangular block is at the back left. Small table is in the center. Yellow cube is at the back right. Blue cube (hexagonal wooden) is at the front. Blue cube (hexagonal wooden) is on the left. Blocks are in the center. Green cube is at the back right and also at the back left. Red cube is at the back right."} +{"scene_index": 40, "scene": "The small table is at the center. The red rectangular block is at the back left. The blue cube and hexagonal wooden block are on the right. The green cube is at the back. The yellow cube is at the back right. The red cube is also at the back left. Another blue cube and hexagonal wooden block are in front. The small blocks are at the back right. A cube is on the right."} +{"scene_index": 41, "scene": "The red cube is at the back left."} +{"scene_index": 42, "scene": "The small table is at front left, with a red cube and a red rectangular block on its left side. A blue hexagonal wooden block and two yellow cubes are positioned at front right."} +{"scene_index": 43, "scene": "A red rectangular block is placed at the back-left position. There is a small table located in the center. A blue hexagonal wooden block is positioned at the front. A yellow cube is placed at the back-right corner. There are a blue cube and a blue hexagon located together at the front-left position. A green cube is positioned at the back-right location. Another yellow cube is placed in the center area. There is something green placed on the right side. A red cube is located at the back-right position."} +{"scene_index": 44, "scene": "The yellow cube is at the back right, a small table is in the center, the red rectangular block is on the right, the red cube is at the back left, the red red rectangular block is at the back, the large block is at the front, the blue cube blue hexagonal wooden block is at the front left, and another green cube is at the front. Additionally, there are small blocks at the front right and a green cube at the back right."} +{"scene_index": 45, "scene": "red red rectangular block is positioned at the back left; small table is in the center; blue hexagonal wooden block is at the front; yellow cube is at the back right; blue cube hexagonal block is at the front left; green cube is at the back right and also at the right; small blocks are in the center; another cube is at the back right."} +{"scene_index": 46, "scene": "A small table is at the center, a yellow cube is located at the back-right corner, a red rectangular block is positioned on the right side, a blue hexagonal wooden block is placed on the left side, a red red rectangular block is situated at the back, a red cube is found at the back-left corner, a blue cube is located at the front-left corner, a large block is positioned at the front, and a green cube has one at the front and another at the back-right corner."} +{"scene_index": 47, "scene": "The yellow cube is at the front right, a green cube is also there. The blue hexagonal wooden block is on the left, and two red rectangular blocks are on the right and front left. A small table is in the center and another small table is at the front right."} +{"scene_index": 48, "scene": "The small table is at the center; there is a yellow cube in front right; there is a red rectangular cube on the right; there is a blue hexagonal wooden cube at back left; there is a red rectangular cube at front left; and the green cube is on the left."} +{"scene_index": 49, "scene": "The Yellow Cube is at the back right. The Small Table is at the center. The Red Rectangular Block is at the right. The Blue Hexagonal Wooden Block is at the left. The Large Block is at the front. The Green Cube is at the front and back right."} +{"scene_index": 50, "scene": "The small table is at the center, the yellow cube is positioned at the back right, the red rectangular block is placed at the back left, the red red rectangular block is located at the back right, the blue cube blue hexagonal wooden block is situated at the right, the blue hexagonal wooden block is at the front, the green cube is positioned at the back, the red cube is placed at the back left, the green item is located at the front right, and the green cube is situated at the front left."} +{"scene_index": 51, "scene": "The yellow cube is at the back right and the small table is in the center and the red rectangular block is on the right and the cube blue hexagonal wooden block is on the left and the blue cube blue hexagonal is at the front left and the large block is at the front and the red cube is at the back left and the green cube is at the front and the red cube rectangular is at the back and the green cube is at the back right."} +{"scene_index": 52, "scene": "The small table is at the center. The blue cube and blue hexagonal wooden block are at the back. The red cube and red rectangular block are at the front right and back left, respectively. The green cube is at the front. The large yellow cube is on the right. The red cube and red rectangular block are at the front left and front right, respectively. The block is at the back right."} +{"scene_index": 53, "scene": "The large yellow cube is on the right, the smaller yellow cube is in the center, the blue hexagonal wooden block is at the back, the green cube is at the front, a small table is centered, a red rectangular block is at the back left, another red rectangular block (with a red cube) is at the front right, and a third red rectangular block (with a red cube) is at the front left. A single block is at the back right along with small blocks also positioned there."} +{"scene_index": 54, "scene": "The blue hexagonal wooden block is at the front right on the small table with the yellow cube also present there. On the left side, there are two red cubes and a smaller cube, both placed together."} +{"scene_index": 55, "scene": "Red red rectangular block is located at the back left, small table is in the center, blue cube and blue hexagonal wooden block are placed at front right, yellow cube is positioned at back right, another blue cube and blue hexagonal wooden block are on the left side, green cube is at the back right, a green cube is also at the center, another green cube is located at back left, small blocks are in the center, red cube is at back right."} +{"scene_index": 56, "scene": "Red cube and red rectangular block are positioned at the back left, small table is centered, blue hexagonal wooden block is at the front right, yellow cube is at the back right, blue cube and blue hexagonal wooden block are on the left, green cubes are placed at both the back left and back right, another green cube is also at the back, a small blocks group is centered, and finally, a cube is positioned at the back."} +{"scene_index": 57, "scene": "The red cube is at the back left, paired with a red rectangular block. A small table is centered. The blue cube and hexagonal wooden block are at the front. The yellow cube is at the back right. Another blue cube and hexagonal wooden block are on the left. A green cube is at the back left, alongside another yellow cube in the center and another green cube at the back right."} +{"scene_index": 58, "scene": "red rectangular block (back left), small table (center), blue hexagonal wooden block (front), yellow cube (back right), green cube (back right), blue cube (front left), blue cube (left), green cube (right), small blocks (center), green cube (back left), red cube (back right)."} +{"scene_index": 59, "scene": "The small table is at the center. The yellow cube is at the back right. The red rectangular block is on the right. The blue cube and hexagonal wooden block are at the front left and left, respectively. The red cube and rectangular block are at the back. The large block is at the front. The green cubes are at the front and back right."} +{"scene_index": 60, "scene": "The red rectangular block is positioned at the back left. The small table is placed in the center. The blue hexagonal wooden block is located at the front. The yellow cube is situated at the back right. The blue cube is positioned at the front left. The green cubes are found at the back right, right, and back left positions. The small blocks are placed in the center."} +{"scene_index": 61, "scene": "The red cube and red rectangular block are at the back left; the small table is in the center; the blue cube and blue hexagonal wooden block are at the front right; the yellow cube is at the back right; another blue cube and blue hexagonal wooden block are on the left; the green cubes are at the back right, center, and back left; and small blocks are also at the center."} +{"scene_index": 62, "scene": "The small table is in the center. The yellow cube is at front right. The blue hexagonal wooden block is at back left. There are two red blocks: a cube at front left and a rectangular one on the right. A blue cube is on the left. Green is also on the left, and a green cube is at front right."} +{"scene_index": 63, "scene": "Small table at center. Yellow cube at back right. Red rectangular block at right. Blue cube and blue hexagonal wooden block at left. Red cube at back left. Red rectangular block at back. Blue cube and blue hexagonal wooden block at front left. Green cube at front. Large block at front. Green cube at back right. Small object at front right."} +{"scene_index": 64, "scene": "The blue hexagonal wooden block is at the back left, the yellow cube is at the front right, the red rectangular block is at the front left, the small table is in the center, the blue cube is on the left, the small blocks and large object are both at the front right."} +{"scene_index": 65, "scene": "The red cube and red rectangular block are positioned at the back left; the small table is in the center; a blue cube and blue hexagonal wooden block are at the front right; the yellow cube and green cube are both at the back right; another blue cube and blue hexagonal wooden block are on the left; a green cube is on the right; and small blocks are also in the center."} +{"scene_index": 66, "scene": "Red cube (red rectangular block) is positioned at the back left. Small table is in the center. Blue hexagonal wooden block is at the front. Yellow cube is located at the back right. Blue cube (blue hexagonal wooden block) is placed at the front left. Another blue hexagonal wooden block is on the left side. Green cube is positioned at the back right. Another green cube is located at the right side. A third green cube is at the back left. Small blocks are in the center. Cube (no color specified) is placed at the back right."} +{"scene_index": 67, "scene": "The red cube and red rectangular block are positioned at the back left. The small table is in the center. The blue cube and blue hexagonal wooden block are at the front. The yellow cube and green cube are both located at the back right. There is a blue cube at the front left, another blue hexagonal wooden block on the left, a green cube on the right, and a green object at the back left. Additionally, small blocks are placed in the center."} +{"scene_index": 68, "scene": "The small table is centered. The yellow cube is placed at back right. The red rectangular block is positioned at front right. The blue cube and hexagonal wooden block are located on the left side. The red cube and rectangular block are placed at back. The red cube is situated at back left. The large block is positioned in front. The green cube is located at both front and back right sides. The small blocks are arranged at front right."} +{"scene_index": 69, "scene": "The blue hexagonal wooden block is on the right, the red cube and red rectangular block are on the left, along with the blue cube and green cube. All blocks are positioned in the front-left area."} +{"scene_index": 70, "scene": "The red rectangular block is at the back left, and the small table is at the center, and the blue hexagonal wooden block is at the front, and the yellow cube is at the back right, and the blue cube is at the left, and the blue cube is also at the front left, and the green cube is at the back right, and the green cube is at the right, and the cube is at the back."} +{"scene_index": 71, "scene": "The small table is centered. The yellow cube is at the back right. The red rectangular block is on the right side. The large block is in front. The blue cube and blue hexagonal wooden block are positioned front left. The red cube is at the back left. The green cubes are placed front and back right. The small blocks are at the front right."} +{"scene_index": 72, "scene": "Yellow cube is positioned back right. Small table is positioned center. Red rectangular block is positioned back right. Blue cube blue hexagonal wooden block is positioned right. Red cube red rectangular block is positioned back. Green cube is positioned back right. Blue hexagonal wooden block is positioned front. Green cube is positioned front right. Red cube is positioned back left."} +{"scene_index": 73, "scene": "Red cube and red rectangular block are both positioned at the back left. A small table is at the center. Blue hexagonal wooden block is in front. Yellow cube is at the back right. Blue cube and blue hexagonal wooden block are on the left. Green cube is on the right. Blocks are at the center. Blue cube is at the front left. Green cube is at the back right (mentioned twice)."} +{"scene_index": 74, "scene": "Red Cube (Red Rectangular Block) is positioned at the back left. Small Table is centered. Blue Cube (Blue Hexagonal Wooden Block) is front-positioned. Yellow Cube is located at the back right. Another Blue Cube (Hexa Block) is placed in the front left. A second Yellow Cube is centrally positioned. Green Cubes are situated at both the back right and back left, as well as the right side. The uncolored Cube is at the back right."} +{"scene_index": 75, "scene": "A small table is at the center. A red rectangular block is at the back left. A green cube is at the back. A yellow cube is at the back right. Blue cubes and a blue hexagonal wooden block are at the right. A red cube is at the back left. A red rectangular block is at the back right. Small blocks are also at the back right. Another blue hexagonal wooden block is at the front."} +{"scene_index": 76, "scene": "Red Cube is located Back Left Red Rectangular Block is also at Back Left (paired with the red cube) Small Table is placed Center Blue Cube and Blue Hexagonal Wooden Block are positioned Front (paired together) Yellow Cube is situated Front Left Blue Hexagonal Wooden Block is at Left Blocks and Yellow Cube are paired together at Center Green Cube is located Back Right Back Left and Right"} +{"scene_index": 77, "scene": "Red Cube is on the left, Red Rectangular Block is on the left and associated with the red cube, Blue Hexagonal Wooden Block is on the right, Blue Cube is on the left, Small Blocks are at the front right, Green Cube is on the left."} +{"scene_index": 78, "scene": "Yellow cube (position: right), Blue hexagonal wooden block (position: left), Red cube red rectangular block (position: front right), Red cube red rectangular block (position: front left), Green cube (position: left), Blue cube (position: back left), Green cube (position: left), Small table (position: center), Large object (position: right), Small table (position: front right)."} +{"scene_index": 79, "scene": "The blue hexagonal wooden block is at the back, with the large yellow cube to its right and the small table in the center. The yellow cube is centered, while the green cube is in front. A red rectangular block is at the back left, and there are red cubes and another red rectangular block positioned at the front left and front right respectively."} +{"scene_index": 80, "scene": "The red cube and red rectangular block are positioned at the back left. The small table is in the center. The blue cube and blue hexagonal wooden block are at the front right. The yellow cube is at the back right. Another blue cube and blue hexagonal wooden block are on the left. There s a green cube at the back right, additional blocks in the center, and another cube also at the back right."} +{"scene_index": 81, "scene": "Yellow cube is on the right, blue hexagonal wooden block and green cube are at back left, red cubes are at front right and front left, another green cube is at left, and the small table is in the center."} +{"scene_index": 82, "scene": "The yellow cube is at the back right, the red rectangular block is on the right, the small table is in the center, the blue cube and hexagonal wooden block are at the front left and left respectively, the red cube is at the back left, another blue cube and hexagonal wooden block are present but their positions are not specified, a large block is at the front, and two green cubes are located at the front and back right."} +{"scene_index": 83, "scene": "The blue hexagonal wooden block is on the right. The red cube and red rectangular block are together on the left. Small blocks are in front and to the right. The blue cube and green cube are also on the left."} +{"scene_index": 84, "scene": "The small table is centered, with the yellow cube in the back-right corner, the green cube behind it, and the red rectangular block at back-left. The blue hexagonal wooden block is at front and center, while another blue hexagonal wooden block is on the right. A red rectangular block is on the left, a red cube is at back-left alongside the small blocks, which are also in the back-right corner, and another red rectangular block shares that back-right position with the yellow cube."} +{"scene_index": 85, "scene": "The blue hexagonal wooden block is in front right. The red cube and red rectangular block are in front left. The blue cube and green cube are on the left. Another green cube is also on the left. Small blocks are in front right."} +{"scene_index": 86, "scene": "The red cube is on the left next to a red rectangular block. The blue cube is on the right and has a blue hexagonal wooden block with it. There are two green cubes, both on the left."} +{"scene_index": 87, "scene": "Red Cube and Red Rectangular Block are both positioned at the Back Left, the Small Table is centered, Blue Hexagonal Wooden Block is at Front Right, Yellow Cube is at Back Right, Blue Cube Hexagonal Block is at Front Left, another Blue Hexagonal Wooden Block is on the Left, small Blocks are at Center, another Green Cube is at Back Left, and a Cube is also positioned at Back Right."} +{"scene_index": 88, "scene": "Red cube is at the back left Small table is in the center Yellow cube is at the back right Blue cube is at the front left Another blue hexagonal wooden block is on the left A third blue cube is at the front Green cubes are positioned at the back right right and back left There is also a green object at the back left"} +{"scene_index": 89, "scene": "Red rectangular block is located at the back left Small table is placed in the center Blue hexagonal wooden block and blue cube are positioned on the right Yellow cube is located at the back right Green cube first is situated at the back Green cube second is placed at the front right Red cube is positioned at the back left Small blocks are located at the back right"} +{"scene_index": 90, "scene": "The blue hexagonal wooden block is at front right, the red cube and red rectangular block are on the left, small blocks are at front right, blue cube and green cube are on the left, and the small table is at front left."} +{"scene_index": 91, "scene": "Small table is at center. Red rectangular block is at back left. Blue cube blue hexagonal wooden block is at right. Green cube is at back. Yellow cube is at back right. Red cube is at back left. Blue hexagonal wooden block is at front. Green cube is at front right. Red rectangular block is at back right. Small blocks are at back right. Blue cube is at right."} +{"scene_index": 92, "scene": "The yellow cube is on the front right. The red cube red rectangular block is on the front left. The red cube red rectangular block is on the back right. The blue blue hexagonal wooden block is on the back left. The blue cube is on the back left. The green cube is on the left. The small table is on the front left. The large block is on the front right."} +{"scene_index": 93, "scene": "Small table is at center. Yellow cube is at back right. Red rectangular block is at right. Blue cube and hexagonal wooden block are at front left. Red rectangular block is at back. Large block is at front. Red cube is at back left. Green cube is at front. Blue cube and hexagonal wooden block are at left. Green cube is at back right. Small blocks are at front right. Blue cube is at front left."} +{"scene_index": 94, "scene": "Red Cube and Red Rectangular Block are at the Back Left. Small Table is in the Center. Blue Cube and Blue Hexagonal Wooden Block are at the Front Right. Yellow Cube is at the Back Right (two instances). Green Cube is at the Back Right (two instances) and also on the Right. Small Blocks are in the Center. Yellow Cube is in the Center. Blue Cube is at the Front Right. Cube is at the Back Right."} +{"scene_index": 95, "scene": "The small table is at the center. The red rectangular block is at the back left, and so are the green cube and the yellow cube. The blue hexagonal wooden block is at the front, while another blue hexagonal wooden block is on the right. There s a red cube also at the back left, along with two more red rectangular blocksβ€”one on the left and one at the back right. Lastly, some small blocks are positioned at the back right."} +{"scene_index": 96, "scene": "Red cube and red rectangular block are positioned at the back left Small table is centered Blue cubes and blue hexagonal wooden blocks are placed at front left and front positions Yellow cube and green cubes are located at back right Another small table is in the center."} +{"scene_index": 97, "scene": "Red Cube and Red Rectangular Block are at the back left Small Table is in the center Yellow Cube is at the back right Blue Cube Hexagonal Wooden Block is at the front Another Blue Cube Hexagonal Wooden Block is on the left Small Blocks are in the center Blue Cube with he is at the front left Green Cube is at the back right and another Green Cube is at the back left Cube is at the back"} +{"scene_index": 98, "scene": "The small table is at the center. The red rectangular block is located at the back left. The blue cube and blue hexagonal wooden block are on the right side. The yellow cube is positioned at the back right. The green cube is placed at the back. Another blue hexagonal wooden block is in front. A red cube is situated at the back left, alongside a red rectangular block at the back right. Additionally, small blocks are also placed at the back right."} +{"scene_index": 99, "scene": "The blue hexagonal wooden block and small blocks are both in the front right; the blue cube is on the left; the red cube and red rectangular block are together on the left; the yellow cube is in the front right; and the green cube is on the left."} +{"scene_index": 100, "scene": "The yellow cube is located at the back right The small table is located at center The red rectangular block is located at right The blue cube blue hexagonal wooden block is located at front left The red cube red rectangular block is located at back The blue cube blue hexagonal wooden block is located at left The red cube is located at back left The green cube is located at front The large block is located at front The green cube is located at back right"} +{"scene_index": 101, "scene": "The blue cube is at the back left, and it s placed behind the large yellow cube which is also in the back row. The green cube is at the front, while the small table is in the center. There are two red rectangular blocks on either side of the tableβ€”one to the front right and one to the front left. Additionally, there s a blue hexagonal wooden block at the back left, near the large yellow cube."} +{"scene_index": 102, "scene": "Small table at center; red rectangular block and yellow cube both at back right; blue cube and red rectangular block at back; green cube at back right; blue hexagonal wooden block at front; red cube at back left; and another green cube at front right."} +{"scene_index": 103, "scene": "The small table is in the center. The yellow cube is on the right. The blue hexagonal wooden block is at the back left. The red cube and red rectangular block are both on the front side; one is on the front right and the other is on the front left."} +{"scene_index": 104, "scene": "The red cube is on the left. The blue hexagonal wooden block is on the right. The blue cube is also on the left. Small blocks are in the front right. A small item and a small table are both in the front left."} +{"scene_index": 105, "scene": "The small table is at the center. The yellow cube is in the back right corner. There are two red rectangular blocks, one on the right side and another at the back. The blue cube is in the front left. A large block is placed in front. A red cube is at the back left. Two green cubes are positioned in the front and back right. Lastly, a blue hexagonal wooden block is on the left."} +{"scene_index": 106, "scene": "The blue hexagonal wooden block is on the right, the red cube and red rectangular block are in the front-left, the green cube is on the left, and small blocks are at the front-right."} +{"scene_index": 107, "scene": "Blue Cube Position is back Large Yellow Cube Position is right Green Cube Position is front Yellow Cube Position is center Red Rectangular Block Position is back left Red Cube Position is front right paired with red rectangular block Red Cube Position is front left paired with red rectangular block Small Table Position is center Block Position is back right"} +{"scene_index": 108, "scene": "The small table is at the center. The red cube and red rectangular block are on the left side, with the red cube in front and the red rectangular block behind it. The yellow cube is at the back right, while the blue hexagonal wooden block is at the front. The green cube is at the back, and the blue cube is on the right. Another blue hexagonal wooden block is at the front left, the small blocks are at the back right, and another block is also at the back right."} +{"scene_index": 109, "scene": "A red rectangular block is positioned at the back left. A small table is placed in the center. A blue hexagonal wooden block is located at the front. A yellow cube is situated at the back right. Blue blocks, including a cube and a hexagonal wooden block, are positioned on the left. A blue cube is placed at the front left. Green cubes are found at the back right, back left, and right positions. Small blocks are positioned in the center. A red cube is located at the back right."} +{"scene_index": 110, "scene": "The red cube is on the left, next to a larger red rectangular block. In front of them, there s a blue cube at the front-left position. On the right side, there are two blocks: a blue hexagonal wooden block and a green cube positioned together."} +{"scene_index": 111, "scene": "Red rectangular block (right), yellow cube (back right), small table (center), blue cube and hexagonal wooden block (left), red cube and rectangular block (back), red cube (back left), blue cube and hexagonal wooden block (front left), green cube (front), large block (front), green cube (back right), small blocks (front right)."} +{"scene_index": 112, "scene": "The small table is at the center. The red rectangular block is on the right. The yellow cube is at the back right. The blue cube and hexagonal wooden block are on the left. The red cube is at the back left. Another red cube and red rectangular block are at the back. The large block is in front, with a green cube also in front and another green cube at the back right."} +{"scene_index": 113, "scene": "The small table is at the center, and the yellow cube is at the back right, and the red rectangular block is on the right, and the blue cube and blue hexagonal wooden block are on the left, and the red cube and red rectangular block are at the back, and the green cube is at the front, and the large block is also at the front."} +{"scene_index": 114, "scene": "Yellow cube is located at the back right. Small table is positioned in the center. Red rectangular block is placed on the right side. Blue hexagonal wooden block is situated on the left. Blue cube is at the front left. Large block is positioned at the front. Red cube and red rectangular block are both located at the back. Another red cube is at the back left. Green cube is placed at the front. Another green cube is located at the back right."} +{"scene_index": 115, "scene": "Small table is at the center. Yellow cube is at the back right. Red rectangular block is on the right. Blue cube (blue hexagonal wooden block) is at the front left and left. Large block is at the front. Red cube is at the back left. Red rectangular block is at the back. Green cube is at the front, front left, and back right. Small blocks are at the front right."} +{"scene_index": 116, "scene": "The yellow cube is positioned at the back right, the small table is centered, the red rectangular block is at the front right, another red rectangular block is at the back, the red cube is at the back left, the blue cube blue hexagonal wooden block is at the front left, the large block is at the front, the green cube is at the front, and another green cube is at the back right."} +{"scene_index": 117, "scene": "The small table is centered, with a blue hexagonal wooden block on its right, and in the back area, there are objects positioned as follows: a red rectangular block at back left, a green cube at back, a yellow cube at back right, another red cube at back left, small blocks at back right, and another red rectangular block at back right. Additionally, a blue cube is placed on the right side of the table."} +{"scene_index": 118, "scene": "Small table is at the center. Yellow cube is at the back right. Red rectangular block is on the right. Blue cube and blue hexagonal wooden block are at the front left. Large block is in front. Red cube and red rectangular block are at the back. Blue hexagonal wooden block is on the left. Red cube is at the back left. Green cubes are at the front, front left, and back right."} +{"scene_index": 119, "scene": "The small table is at the center. The yellow cube is at the back right. The red rectangular block is on the right. The blue cube and hexagonal wooden block are on the left. The red rectangular block is at the back. The red cube is at the back left. The large block is in front. The blue cube is at the front left. The green cubes are at the front and back right."} +{"scene_index": 120, "scene": "The small table is at the center. The red rectangular blocks are on the left and back left. The blue cube and hexagonal wooden block are on the right and front. The yellow cube is at the back right. The green cubes are at the back and front left. Small blocks are also at the back right."} +{"scene_index": 121, "scene": "A red rectangular block is in the back right, a yellow cube is in the back right, a small table is in the center, a red rectangular block is in the back, a green cube is in the back right, a blue hexagonal wooden block is in the right, a red cube is in the back left, a blue hexagonal wooden block is in the front, and a green cube is in the front right."} +{"scene_index": 122, "scene": "Yellow cube is on the right; blue hexagonal wooden block is at the back left; red cube and red rectangular block are in the front right and front left positions respectively; green cubes are on the left; blue cube is also at the back left."} +{"scene_index": 123, "scene": "Blue cube and blue hexagonal wooden block are both in the back position Large yellow cube is located at the back right Yellow cube is placed in the center Green cube is positioned at the front Small table is situated in the center Red rectangular block is found at the back left Red cube and red rectangular block are both in the front right position Another red cube and red rectangular block are located at the front left"} +{"scene_index": 124, "scene": "The small table is at the center. The red rectangular block is on the left. The blue cube and the blue hexagonal wooden block are on the right. Another red rectangular block is at the back left. The yellow cube and the green cube are both positioned at the back, with the yellow cube at the back right and the green cube in the general back area. The blue hexagonal wooden block is at the front. The red cube is also at the back left, sharing the same position as another red rectangular block but possibly distinct from it. The small blocks are located at the back right, likely near or alongside the yellow cube."} +{"scene_index": 125, "scene": "The small table is at the center. The yellow cube is at the back right. The red rectangular block is on the right. The large block is at the front. The blue cube hexagonal wooden block is on the left. The green cube is at the front left."} +{"scene_index": 126, "scene": "Red cube (red rectangular block) is on the left, Blue hexagonal wooden block is in the front-right, Blue cube is on the left, Small blocks are in the front-right, Yellow cube is in the front-right, Another yellow cube is in the front-right."} +{"scene_index": 127, "scene": "The small table is at the center, the yellow cube is at the back right, the red rectangular block is at the right, the cube blue hexagonal wooden block is at the left, the blue cube wooden block is at the front left, the red red rectangular block is at the back, the large block is at the front, the red cube is at the back left, the green cube is at the front and back right, and the small blocks are at the front right."} +{"scene_index": 128, "scene": "Red cube and red rectangular block are at the back left. Small table is in the center. Blue cube and blue hexagonal wooden block are at the front right. Yellow cube is at the back right. Another blue cube and blue hexagonal wooden block are on the left. Green cube is also at the back right. Blue he (likely a typo for cube ) is at the front left. Another green cube is at the back left. Small blocks are in the center, and a single cube is at the back right."} +{"scene_index": 129, "scene": "Red cube and red rectangular block are both at the back left. Small table is in the center. Blue cube and blue hexagonal wooden block are at the front right. Yellow cube is at the back right. Another blue cube and blue hexagonal wooden block are on the left. Green cube is on the right. Small blocks are also in the center. A cube is at the back right. Green cube is again mentioned but no position is given for this instance."} +{"scene_index": 130, "scene": "There are a blue hexagonal wooden block on the right, a red cube and a red rectangular block on the left, a small table in front-right, a cube in front-left, and a blue cube on the left."} +{"scene_index": 131, "scene": "Yellow cube is at the back right; red rectangular block is on the right; small table is in the center; red cube is at the back left; large red rectangular block is at the back; green cube is at the front; blue hexagonal wooden block and blue cube are both at the front left."} +{"scene_index": 132, "scene": "The yellow cube is located on the right side of the arrangement and the blue hexagonal wooden block is positioned at the back left area, while the red cube and red rectangular block are situated together in the front left section, with the green cubes found on the left side, noting one overlapping position but likely referring to two separate green cubes."} +{"scene_index": 133, "scene": "The red rectangular block is at the back left, a small table is in the center, two blue hexagonal wooden blocks are positioned one at the front and one on the left, a green cube is on the right, another green cube is at the back right along with a green block, a blue hexagonal block is at the front left, some small blocks are in the center, and there s also a red cube at the back right."} +{"scene_index": 134, "scene": "The small table is at the center. On the left is a red rectangular block, and another red rectangular block is placed at the back left. On the right are blue cube and blue hexagonal wooden block, with the blue hexagonal wooden block positioned in front. A yellow cube is at the back right, a green cube is at the back, and a red cube is also at the back left. Additionally, there are small blocks at the back right and another red rectangular block at the back right. The yellow cube is placed at the front right, while a green object is at the front."} +{"scene_index": 135, "scene": "The yellow cube is on the right, the blue hexagonal wooden block is in the center, and the small table is also at the center. The red cube with a red rectangular block is positioned front right, while another similar red and rectangular block is at front left. The blue cube is placed back left, and the green cube is located on the left side of the arrangement."} +{"scene_index": 136, "scene": "The small table is at the center. The yellow cube is at the back right. The red rectangular block is at the right. The large block is at the front. The red cube is at the back left. The red red rectangular block is at the back. The blue cube and blue hexagonal wooden block are at the front left. The green cube is at the front. Another green cube is at the back right."} +{"scene_index": 137, "scene": "The red cube (red rectangular block) is located at the front left. The blue hexagonal wooden block is located at the front right. The blue cube is located on the left. The blocks are located at the front right. The blue cube is located on the left."} +{"scene_index": 138, "scene": "Red Cube and Red Rectangular Block are both positioned on the left Blue Hexagonal Wooden Block is at the front-right Small Table is located at the front-left Blue Cube and Green Cube are also placed on the left."} +{"scene_index": 139, "scene": "The red cube is on the left, with a red rectangular block also on the left; the blue hexagonal wooden block and small blocks are both in the front right."} +{"scene_index": 140, "scene": "The red cube and red rectangular block are at the back left, the small table is in the center, the blue cube and hexagonal wooden block are at the front, the yellow cube is at the back right, another green cube is also at the back right, the blue cube and hexagonal wooden block are on the left, a yellow cube is in the center, and the remaining green cubes are at the right and back left, with small blocks also in the center."} +{"scene_index": 141, "scene": "red cube red rectangular block is at back left; small table is at center; blue cube blue hexagonal wooden block is at front; yellow cube is at back right; blue cube blue hexagonal wooden block is at front left; yellow cube is at center; blue hexagonal wooden block is at left; green cube is at back right; green cube is at right; green cube is at back left; cube is at back right."} +{"scene_index": 142, "scene": "Small table is at the center, red cube and red rectangular block are at the back left, blue cube and blue hexagonal wooden block are at the front, yellow cube and green cube are at the back right, green cube and hexagonal block are at the left, small blocks are at the center."} +{"scene_index": 143, "scene": "A blue hexagonal wooden block is at the back left, with a green cube to its left. A small table is centered, flanked by a red rectangular block and yellow cube on opposite sides."} +{"scene_index": 144, "scene": "The small table is at the center. The yellow cube is in the back right. The red rectangular block is on the left. Another red rectangular block is in the back left. A green cube is at the back. The blue hexagonal wooden block is in the front. A red cube is in the back left. Blue cubes and a blue hexagonal wooden block are on the right. Small blocks are in the back right. Another rectangular block is in the back right. Another green cube is in the front left."} +{"scene_index": 145, "scene": "The Red Cube, which is a red rectangular block, is located at the back left. The Small Table is positioned in the center. The Yellow Cube is placed at the back right. The Blue Cube, which is a blue hexagonal wooden block, is situated at the front and left. The Green Cube can be found at the back left, back right, and right positions."} +{"scene_index": 146, "scene": "There is a red cube and a red rectangular block at the back left, a small table in the center, a blue cube and a blue hexagonal wooden block at the front, a yellow cube at the back right, another blue cube and blue hexagonal wooden block on the left, green cubes on the right, back right, and back left, and small blocks in the center."} +{"scene_index": 147, "scene": "The small table is at the center. A blue cube and a blue hexagonal wooden block are at the back. A large yellow cube is on the right. A green cube is in front. A yellow cube is at the center. A red rectangular block is at the back left, and a red cube and another red rectangular block are at the front left and front right respectively. A block is at the back right."} +{"scene_index": 148, "scene": "The red rectangular block is at the back left; a small table is in the center; blue hexagonal wooden blocks are at front and left; yellow and green cubes are at the back right and back left respectively; additional green cubes are at the center and right; a red cube is also at the back right."} +{"scene_index": 149, "scene": "Yellow cube is at the center. Blue hexagonal wooden block and red rectangular block are both at back left. Large yellow cube is at right. Green cube is at front. Red rectangular block is at front left. Block is at back right. Small table is also at center."} +{"scene_index": 150, "scene": "Red cube is at the back left. Red rectangular block is also at the back left. The small table is in the center. Blue hexagonal wooden block is at the front. Yellow cube is at the back right. Blue cube is at the front left. Green cube is at the back right and another green cube is at the back left. Small blocks are in the center. Another cube is at the back right."} +{"scene_index": 151, "scene": "The yellow cube is at the center. The green cube is in front of it. A large yellow cube is behind and to the right. A red cube and a blue hexagonal wooden block are both at the back, with the red cube on the left side. Another red rectangular block is at the back left. Additionally, a small table is at the front right."} +{"scene_index": 152, "scene": "Red cube is front-left, red rectangular block is front-left, blue cube is front-right, blue hexagonal wooden block is front-right, green cube (first) is left, and the second green cube is also left."} +{"scene_index": 153, "scene": "The small table is at center. The blue cube and blue hexagonal wooden block are on the right (block is in front; cube is at center or back). The red rectangular block is at back left (two instances, one at back left, one at back right). The green cube is at back. The yellow cube is at back right. The small blocks are at back right."} +{"scene_index": 154, "scene": "The small table is in the front left; a red cube and a green cube are also in the front left. A blue hexagonal wooden block and small blocks are in the front right. Additionally, there s a blue object on the left, and a blue cube is also on the left."} +{"scene_index": 155, "scene": "A red cube (red rectangular block) is at the back-left, a small table is in the center, a blue hexagonal wooden block is at the front, a yellow cube is at the back-right, a blue cube is at the front-left, green cubes are in the center, a green cube is at the back-left, a green cube is on the right, and a cube (green) is at the back-right."} +{"scene_index": 156, "scene": "The small table is at the center. The large block yellow is on the right. The red rectangular block is in the back left corner. The blue hexagonal wooden block is at the back. The green cube is in front. The red cube is on the front left and the red rectangular block is on the front right."} +{"scene_index": 157, "scene": "The yellow cube is located at the back right position, the small table is situated in the center position, the red rectangular block is positioned on the right side, the red cube and red rectangular block are placed at the back position, the large block is located at the front position, the blue cube and blue hexagonal wooden block are positioned on the left side, the red cube is situated at the back left position, and the green cube is located at the front position and another green cube is placed at the back right position."} +{"scene_index": 158, "scene": "The blue hexagonal wooden block is on the right, and there s a small table in the front left. On the left side, there are two green cubes and a red cube along with a red rectangular block. The object labeled small is positioned at the front right."} +{"scene_index": 159, "scene": "Yellow cube is on the right; the blue cube and blue hexagonal wooden block are at the back left; both red cubes and their respective blocks are positioned at the front, with one on the right and the other on the left."} +{"scene_index": 160, "scene": "The blue hexagonal wooden block is at the back, positioned behind the small table. The large yellow cube is on the right side of the table. The yellow cube is centered on the table. The green cube is at the front of the table. The red rectangular block is located at the back left corner. A red cube and a red rectangular block are placed at the front left and front right corners, respectively. Lastly, a blue cube is positioned to the left side of the table."} +{"scene_index": 161, "scene": "Red Cube and Red Rectangular Block are at the Back Left. Small Table is in the Center. Blue Cube and Blue Hexagonal Wooden Block are at the Front Right. Another Blue Cube and Blue Hexagonal Wooden Block are at the Front Left. Yellow Cube is at the Back Right with a Green Cube also there. A Blue Hexagonal Wooden Block is on the Left. A Green Cube is on the Right and another Green Cube is at the Back Left. Small Blocks are in the Center."} +{"scene_index": 162, "scene": "1. Large block yellow cube: right 2. Green cube: front 3. Yellow cube: center 4. Small table: center 5. Blue cube blue hexagonal wooden block: back 6. Red cube red rectangular block: front left 7. Red rectangular block: back left 8. Red cube red rectangular block: front right 9. Block: back right 10. Blue cube: back"} +{"scene_index": 163, "scene": "The red cube and red rectangular block are at the back left; the small table is in the center; the blue cube and blue hexagonal wooden block are at the front right; the yellow cube is at the back right; another blue cube and blue hexagonal wooden block are on the left; a green cube is on the right."} +{"scene_index": 164, "scene": "The small table is at the center. The red rectangular block is at back left. The blue cube and blue hexagonal wooden block are on the right. The yellow cube is at back right. The green cube is at back. Another red rectangular block is also at back right. The red cube is at back left. The blue hexagonal wooden block is at front. The small blocks are at back right."} +{"scene_index": 165, "scene": "The red cube and red rectangular block are in front-left positions. The blue hexagonal wooden block and small blocks are in front-right positions. The blue cube and green cube are on the left side."} +{"scene_index": 166, "scene": "The yellow cube is at the back right, while the red rectangular block and large block are on the right and front respectively. The red cube is at the back left, the green cube is in the center, and there s another green cube at the back right. A small table is also in the center. The blue hexagonal wooden block is at the front left."} +{"scene_index": 167, "scene": "The small table is at the center, the yellow cube is in the back right corner, the red rectangular block is on the right side, the red cube and red rectangular block are both in the back, the large block is at the front, the green cube is in the front, the blue cube is a hexagonal wooden block on the left, the blue hexagonal wooden block is also on the front left, and another green cube is in the back right."} +{"scene_index": 168, "scene": "The small table is at the center the red cube and red rectangular block are at the back left the blue hexagonal wooden block is at the front the yellow cube is at the back right the blue cube is at the front left the small blocks are at the center the green cube is at the right and also at the back right the blue cube and blue hexagonal wooden block are at the left the red cube is at the back right and another green cube is also there."} +{"scene_index": 169, "scene": "The small table is in front right, with a blue hexagonal wooden block also in front right; on the left side, there s a red cube and a red rectangular block, along with a blue cube."} +{"scene_index": 170, "scene": "The yellow cube is positioned at the back right. The red rectangular block is placed at the right side. The blue hexagonal wooden block is located on the left. The small table is centered in the middle. The red cube is situated at the back left. The green cube is positioned at the front. Another red cube and a red rectangular block are placed together at the back. A large block is located at the front, and a blue cube is positioned at the front left."} +{"scene_index": 171, "scene": "Small table is in the center Yellow cube is at the back right Red rectangular block is on the right Blue cube is in the front left and blue hexagonal wooden block is on the left Large block is at the front Green cube is in front and at the back right Red cube is at the back left Red rectangular block is at the back Small blocks are in the front right"} +{"scene_index": 172, "scene": "The red cube is positioned left, the red rectangular block is positioned left, the blue hexagonal wooden block is positioned right, the blue cube is positioned front left, and the green cube is positioned front left."} +{"scene_index": 173, "scene": "Red cube and red rectangular block are at the back left small table is in the center blue hexagonal wooden block is at the front right yellow cube and green cube are both at the back right and small blocks are in the center."} +{"scene_index": 174, "scene": "The blue hexagonal wooden block is positioned right the red cube is positioned left and it is in a stack with the red rectangular block the blue cube is positioned left and it is in a stack with the red cube there are two yellow cubes both positioned at front right the small blocks are positioned at front right"} +{"scene_index": 175, "scene": "The small table is at the center. The yellow cube is located at the back right corner. A red rectangular block is on the right side. Another red red rectangular block is positioned at the back. A red cube is placed at the back left. A blue cube shaped as a hexagonal wooden block is on the left. The large block is in front. There are two green cubes: one at the front and another at the back right. Small blocks are located at the front right corner."} +{"scene_index": 176, "scene": "The small table is centered, the red rectangular block is at back left, the blue cube and blue hexagonal wooden block are on the right, the yellow cube is at back right, the red rectangular block is at back right, the green cube is at back, the red cube is at back left, the green cube is at front right, the blue hexagonal wooden block is at front, the small blocks are at back right, the green cube is at front left, and the blue cube is on the right."} +{"scene_index": 177, "scene": "The small table is at the center. A red rectangular block is in the back left corner. There are blue and green cubes positioned on the right and front right respectively. Another yellow cube is placed at the back, while a green cube is located at the back right. Additionally, a red cube is near the back left, and a blue hexagonal wooden block is at the front. Small blocks are also present in the back right area, and a blue cube is positioned on the right side."} +{"scene_index": 178, "scene": "The blue hexagonal wooden block is positioned to the right, while the blue cube and red cube (as a single entity) are on the left. The yellow cube is at the front right."} +{"scene_index": 179, "scene": "Please note that small table: Center, yellow cube: Back right, red rectangular block: Right, blue hexagonal wooden block: Left, blue cube he: Front left, large block: Front, green cube: Front and back right, red cube: Back left and back."} +{"scene_index": 180, "scene": "Small table is at the center, two red rectangular blocks are on the back left and left positions, a green cube is at the back, a blue hexagonal wooden block is at the front, a yellow cube is at the back right, another blue cube (described as blue cube blue hexagonal wooden block) is on the right, a red cube is at the back left, small blocks are at the back right."} +{"scene_index": 181, "scene": "a red cube located at back left a small table placed at center a blue hexagonal wooden block positioned at front a yellow cube situated at back right a green cube located at back right another green cube placed at right a third green cube situated at back left a blue cube positioned at front right and an unspecified color cube located at back right"} +{"scene_index": 182, "scene": "Red Cube and Red Rectangular Block are both in the Back Left, Small Table is in the Center, Blue Cube and Blue Hexagonal Wooden Block are in the Front, Yellow Cube is in the Back Right, Green Cube is also in the Back Right, Another Green Cube is in the Back Left, Small Blocks are in the Center."} +{"scene_index": 183, "scene": "The small table is at the center. The blue hexagonal wooden block is back left. The yellow cube is front right. The red cube and red rectangular block are back right. The green cube and blue cube are on the left."} +{"scene_index": 184, "scene": "Yellow Cube Located at the back right Small Table Centered in the space Red Rectangular Block Positioned on the right side Large Block Situated at the front Blue Cube Blue Hexagonal Wooden Block Placed on the left and also at the front left Green Cube Located at the front Red Cube Positioned at the back left Red Cube Red Rectangular Block Found at the back Green Cube Situated at the back right"} +{"scene_index": 185, "scene": "The red rectangular block is at the back left, with a small table in the center. A blue cube and a hexagonal wooden block are at the front left, while a yellow and green cube are both at the back right. Another blue cube and hexagonal wooden block are on the left, and a set of small blocks are also in the center. He is positioned at the front left, along with a red cube at the back right."} +{"scene_index": 186, "scene": "Red Cube is left of the small table, Red Rectangular Block is left of the red cube, Blue Cube is front-left corner adjacent to both the green cube and the small table, Blue Hexagonal Wooden Block is front-right corner on top of the small table, Green Cube is front-left corner adjacent to the blue cube and in front of the red rectangular block."} +{"scene_index": 187, "scene": "Red Cube Back Left Small Table Center Blue Cube Front Right Yellow Cube Back Right Blue Cube Front Left Green Cube Right Hexagonal Wooden Block Left Green Cube Back Right Cube Back Right"} +{"scene_index": 188, "scene": "The yellow cube is at the back right, the small table is in the center, the red rectangular block is on the right, the blue hexagonal wooden block is on the left, the red cube is at the back left, the red rectangular block is at the back, the green cube is at the front, the large block is also at the front, another green cube is at the back right, and the blue cube is at the front left."} +{"scene_index": 189, "scene": "A large cube colored yellow is positioned on the right side, a green cube is located at the front, a smaller yellow cube is centered, a blue hexagon-shaped wooden block is placed in the back-left corner, a red rectangle block shares the back-left position with the blue block, a small table is situated at the center, a red cube and a red rectangle block are placed in the front-left area, another set of red cube and red rectangle block is positioned at the front-right corner, a generic block is located at the back-right position."} +{"scene_index": 190, "scene": "Red cube and red rectangular block are on the left Blue hexagonal wooden block is in the front-right A blue cube and a green cube are also on the left Two cubes and small blocks are in the front-right"} +{"scene_index": 191, "scene": "The yellow cube is located at the back right, the red rectangular block is positioned on the right side, the small table is in the center, the red cube is placed at the back left, the red rectangular block is situated at the back, the blue cube hexagonal wooden block is at the front left, the cube blue hexagonal wooden block is on the left side, the large block is positioned at the front, there are green cubes located both at the back right and the front, and the small blocks are placed at the front right."} +{"scene_index": 192, "scene": "The blue hexagonal wooden block is front right; the red cube and red rectangular block are both on the left; the yellow cube is front right; and the green cube is on the left."} +{"scene_index": 193, "scene": "Red cube is on the left, positioned with the red rectangular block. Blue hexagonal wooden block and yellow cube are both in the front right, along with another yellow cube and small blocks. Additionally, a blue cube and green cube are also on the left."} +{"scene_index": 194, "scene": "The red cube is on the left. The red rectangular block is on the left. The blue cube is in front and to the right. The blue hexagonal wooden block is in front and to the right. The green cube is on the left. The yellow cube is in front and to the right. The small blocks are in front and to the right. The wooden block is in front and to the right."} +{"scene_index": 195, "scene": "The red cube is on the left. The red rectangular block is on the left (paired with the red cube). The blue hexagonal wooden block is on the front right. The blue cube is on the left. The green cube is on the left (paired with the blue cube). The small table is on the front left. The small blocks are on the front right."} +{"scene_index": 196, "scene": "the Yellow Cube is Back right, the Red Rectangular Block is Right, the Small Table is Center, the Blue Hexagonal Wooden Block is Left, the Red Cube is Back left, the Red Rectangular Block (2) is Back, the Green Cube is Front, the Large Block is Front, the Green Cube (2) is Back right, and the Blue Cube is Front left."} +{"scene_index": 197, "scene": "The Blue Cube is positioned back, The Blue Hexagonal Wooden Block is positioned back, The Yellow Cube is positioned center, The Green Cube is positioned front, The Large Block (Yellow) is positioned right, The Red Rectangular Block is positioned back left, The Red Cube (Red Rectangular Block) is positioned front left, The Small Table is positioned center, The Red Cube (Red Rectangular Block) is positioned front right, and The Block is positioned back right."} +{"scene_index": 198, "scene": "The red cube and red rectangular block are at the back left. A small table is in the center. Two blue hexagonal wooden blocks are on the front and left sides. Another blue hexagonal wooden block is at the front left. The yellow cube is at the back right with two green cubes, one at the back right and another on the right side. Additionally, there are two more cubes in the center and at the back right position."} +{"scene_index": 199, "scene": "Red Cube and Red Rectangular Block are placed at the back-left position, small table is centered, blue cube and blue hexagonal wooden block are positioned at the front, yellow cube is located at the back-right, blue cube is at the front-left, green cube is on the right side, and small blocks are in the center along with another green cube at the back-right and a third green cube at the back-left."} +{"scene_index": 200, "scene": "The small table is at the center, with a yellow cube on its right, a blue hexagonal wooden block on its left, and red cubes on both front corners (front right and front left). Additionally, green cubes are positioned at the back left and front right."} +{"scene_index": 201, "scene": "The blue hexagonal wooden block is on the right, while the red cube and red rectangular block are both on the left. The green cube shares the same position as the red cube and red rectangular block on the left, and there s also a green cube with the blue cube on the left."} +{"scene_index": 202, "scene": "Yellow cube (right), red cube and red rectangular block (front right), red cube and red rectangular block (front left), blue hexagonal wooden block (back left), small table (center), green cube (front right), blue cube (left), and small (back)."} +{"scene_index": 203, "scene": "The yellow cube is at the back right; the small table is in the center; the red rectangular block is on the right; the blue cube and hexagonal wooden block are on the left; the large block is at the front; the red cube and rectangular block are at the back; the green cubes are at the front and back right; the red cube is at the back left; the blue cube and hexagonal wooden block are at the front left."} +{"scene_index": 204, "scene": "A small table is at the center. A blue cube and a blue hexagonal wooden block are placed at the back. To the right of the setup, there s a large yellow cube. In front, there s a green cube, and in the center, there s another yellow cube. At the back left, there s a red rectangular block. Additionally, two sets of red objects are positioned: one with a red cube and a red rectangular block at the front right, and another with the same combination at the front left."} +{"scene_index": 205, "scene": "The large block yellow cube is on the right The yellow cube is at the center The green cube is at the front The blue hexagonal wooden block is at the back The red rectangular block is at the back left The red cube rectangular block is at the front left The red cube rectangular block is at the front right The small table is at the center The blue object is at the back"} +{"scene_index": 206, "scene": "The blue hexagonal wooden block is at the front right on the small table. The red cube and red rectangular block are on the left. The blue cube is at the front left."} +{"scene_index": 207, "scene": "The small table is at the center. The yellow cube and red rectangular block are both at back right. The red red rectangular block is at back. The green cube is at back right. The blue cube blue hexagonal wooden block is at right. The blue hexagonal wooden block is at front. The red rectangular block is at left. The red cube is at back left. The green cube is at front left and front right."} +{"scene_index": 208, "scene": "A small table is at the center. A blue hexagonal wooden block and a blue cube are both in the back left. A green cube is on the left. Two red rectangular blocks are on the front left and front right. A yellow cube is on the right."} +{"scene_index": 209, "scene": "The red cube is on the left, positioned alongside the red rectangular block also on the left. The blue hexagonal wooden block is at the front-right, and the blue cube is on the left."} +{"scene_index": 210, "scene": "Yellow Cube is located at Back right, Small Table is placed at Center, Red Rectangular Block is positioned on the Right, Blue Cube Blue Hexagonal Wooden Block is situated on the Left, Red Cube Red Rectangular Block is found at the Back, Large Block is located at Front, Green Cube is positioned at both Front and Back right, Red Cube is placed at Back left, Small Blocks are located at Front right."} +{"scene_index": 211, "scene": "Small table is located in the center yellow cube is located in the back right red rectangular block is located in the back left blue cube and blue hexagonal wooden block are located on the right red rectangular block is located in the back right blue hexagonal wooden block is located in the front green cube is located in the back red cube is located in the back left green cube is located in the front right small table is located in the back right."} +{"scene_index": 212, "scene": "The red cube and red rectangular block are positioned at the back left. The small table is in the center. The blue cube and blue hexagonal wooden block are at front right, with another blue hexagonal wooden block on the left. The yellow cube is at back right, while another yellow cube is centered. The green cube is at both back left and back right. Small blocks are also in the center, and a cube is at back right as well."} +{"scene_index": 213, "scene": "The red cube is on the left, the blue hexagonal wooden block is in front-right, the green cube and small table are both in front-left."} +{"scene_index": 214, "scene": "The small table is at the center. The yellow cube is in the back-right corner, while the blue hexagonal wooden block is in the front-left and there s another blue hexagonal wooden block on the left side. A large block shares the center with the small table. The red rectangular block is on the right, and a green cube is at the front. Another green cube is at the back-right, and a red cube is at the back-left with a red rectangular block also in the back."} +{"scene_index": 215, "scene": "A red rectangular block is positioned on the right, a small table is centered, a yellow cube is at the back right, a blue cube and a hexagonal wooden block are both located in the front left, both the red cube and the red rectangular block are placed at the back with the red cube specifically at the back left, a large block is positioned in the front, a green cube is at the front, the blue cube and hexagonal wooden block are on the left, another green cube is at the back right, and small blocks are located at the front right."} +{"scene_index": 216, "scene": "The blue cube is on the right, positioned next to the blue hexagonal wooden block. The red cube and red rectangular block are on the left. Small blocks are in front of the right side."} +{"scene_index": 217, "scene": "On the small table at back left is a yellow cube. In front of it on front left is a red cube (rectangular block). To its right on front right are a green cube and another red cube (rectangular block). On the opposite side at left is a blue cube, while another blue cube (hexagonal wooden block) is placed at back left but not on the table."} +{"scene_index": 218, "scene": "The small table is centered, with the red rectangular block and a red cube placed at the back left, the yellow cube and a small block at the back right, the green cube at the back, the blue hexagonal wooden block at the front right, and another blue hexagonal wooden block at the front."} +{"scene_index": 219, "scene": "The Yellow Cube is at the center, the Green Cube is at the front, the Large Block Yellow is on the right, the Small Table is at the center, the Red Rectangular Block is at the back left, the Red Cube and Red Rectangular Block are at the front left, the Red Cube and Red Rectangular Block are at the front right, and the Blue Cube and Blue Hexagonal Wooden Block are at the back left."} +{"scene_index": 220, "scene": "Blue cubes on the left, yellow cube in the center, green cube at the front, red rectangular block at the back left, large yellow cube on the right, small table in the center, blue object at the back left, red cube and red rectangular block at the front left, and red cube and red rectangular block at the front right."} +{"scene_index": 221, "scene": "The blue hexagonal wooden block is in the front-right position, while the red cube and red rectangular block, along with the blue cube and green cube, are all located in the front-left position."} +{"scene_index": 222, "scene": "Red cube is at the back left, red rectangular block is also at the back left, a small table is at the center, a blue cube which is also a hexagonal wooden block is at the front, a yellow cube is at the back right, another blue cube which is also a hexagonal wooden block is on the left, a green cube is at the back right, another green cube is at the back left, small blocks are at the center, and finally, a red cube is at the back right."} +{"scene_index": 223, "scene": "The yellow cube is in the back right The red rectangular block is on the right The small table is at the center The red cube is in the back left The blue hexagonal wooden block is in the front left and also on the left The large block is at the front The green cube is in the front and the back right The small blocks are at the front right"} diff --git a/AIRBOT_MMK2_stacking_blocks/annotations/subtask_annotations.jsonl b/AIRBOT_MMK2_stacking_blocks/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e668e10729770b6b979993616110eb2cf7cf3c6b --- /dev/null +++ b/AIRBOT_MMK2_stacking_blocks/annotations/subtask_annotations.jsonl @@ -0,0 +1,25 @@ +{"subtask_index": 0, "subtask": "Place the yellow cube on the orange cube with the right gripper"} +{"subtask_index": 1, "subtask": "Static"} +{"subtask_index": 2, "subtask": "Grasp the blue rhombic cuboid block with the right gripper"} +{"subtask_index": 3, "subtask": "Grasp the red cuboid block with the left gripper"} +{"subtask_index": 4, "subtask": "Grasp the blue small cube with the left gripper"} +{"subtask_index": 5, "subtask": "Place the red small cube on the blue small cube with the right gripper"} +{"subtask_index": 6, "subtask": "Place the red cuboid block in the center of view with the left gripper"} +{"subtask_index": 7, "subtask": "Grasp the big red cube with the left gripper"} +{"subtask_index": 8, "subtask": "Abnormal"} +{"subtask_index": 9, "subtask": "Place the orange cube on the yellow cube with the right gripper"} +{"subtask_index": 10, "subtask": "Place the green small cube on the blue small cube with the right gripper"} +{"subtask_index": 11, "subtask": "Grasp the green small cube with the right gripper"} +{"subtask_index": 12, "subtask": "Grasp the red small cube with the right gripper"} +{"subtask_index": 13, "subtask": "Grasp the blue cube with the right gripper"} +{"subtask_index": 14, "subtask": "Place the blue cube on the red cube with the left gripper"} +{"subtask_index": 15, "subtask": "Grasp the orange cube with the right gripper"} +{"subtask_index": 16, "subtask": "Grasp the blue cube with the left gripper"} +{"subtask_index": 17, "subtask": "Place the blue small cube on the small table with the left gripper"} +{"subtask_index": 18, "subtask": "End"} +{"subtask_index": 19, "subtask": "Place the blue rhombic cuboid block on the red cuboid block with the right gripper"} +{"subtask_index": 20, "subtask": "Place the blue small cube on the yellow small cube with the left gripper"} +{"subtask_index": 21, "subtask": "Place the big red cube in the center of view with the left gripper"} +{"subtask_index": 22, "subtask": "Grasp the yellow cube with the right gripper"} +{"subtask_index": 23, "subtask": "Place theblue cube on the big red cube with the right gripper"} +{"subtask_index": 24, "subtask": "null"} diff --git a/AIRBOT_MMK2_stacking_blocks/data/chunk-000/episode_000000.parquet b/AIRBOT_MMK2_stacking_blocks/data/chunk-000/episode_000000.parquet new file 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