Copy R1_Lite_sliding_chair into RoboCOIN_useable

R1_Lite_sliding_chair/.gitattributes

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

R1_Lite_sliding_chair/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_sliding_chair
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 87 |
+| **Total Frames** | 142290 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 261 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 6.6GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+pull chair out from table then put back.
+
+### Sub-Tasks
+This dataset includes 5 distinct subtasks:
+
+1. **Push the gray chair back under the dining table** 
+2. **Pull the gray chair out from under the dining table** 
+3. **Push the blue chair back under the dining table** 
+4. **Pull the blue chair out from under the dining table** 
+5. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 3 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:86
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 87, "total_frames": 142290, "total_tasks": 1, "total_videos": 261, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:86"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_sliding_chair_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_sliding_chair/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

R1_Lite_sliding_chair/annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

R1_Lite_sliding_chair/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

R1_Lite_sliding_chair/annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

R1_Lite_sliding_chair/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

R1_Lite_sliding_chair/annotations/scene_annotations.jsonl

@@ -0,0 +1,90 @@
+{"scene_index": 0, "scene": "The chair is positioned at the back left, another chair is at the back, and the table is in the center."}
+{"scene_index": 1, "scene": "The chair is located at the back right, while the table is centered. Additionally, there are two chairs situated at the back left."}
+{"scene_index": 2, "scene": "Chair is positioned at the back right. Table is centered. Chair is positioned at the back."}
+{"scene_index": 3, "scene": "Chair positioned at the back Chair positioned at the back left Table positioned at the center"}
+{"scene_index": 4, "scene": "The chair is located at the back right, the table is at the back, another chair is at the back left, and there are two chairs positioned at the back."}
+{"scene_index": 5, "scene": "The table is positioned at the center, while there is a chair at the back and another chair located at the back left."}
+{"scene_index": 6, "scene": "The table is centered, with four chairs positioned at the back left, back right, and two additional chairs also at the back left."}
+{"scene_index": 7, "scene": "The table is positioned at the back, while there are four chairs located at the back as well—two on the regular back position and two on the back-left position."}
+{"scene_index": 8, "scene": "The table is positioned at the back, with two chairs located behind it; one chair is situated at the back left."}
+{"scene_index": 9, "scene": "In the described scene, there is a table positioned in the center. There are chairs located at various positions: one chair is at the back right, another at the back left, another at the back center, and two additional chairs are also at the back right position."}
+{"scene_index": 10, "scene": "The chair is located at the back right, another chair is positioned at the back left, and the table is centered between them."}
+{"scene_index": 11, "scene": "The chair is centered, another chair is on the left, and the table shares the center position with the first chair."}
+{"scene_index": 12, "scene": "The chairs are positioned at the back left and back right, while the table is centered."}
+{"scene_index": 13, "scene": "The table is positioned at the back, while there are chairs located at the back right, two at the back left, and one more chair also placed at the back left."}
+{"scene_index": 14, "scene": "The chair is positioned to the left of the table, which is centered."}
+{"scene_index": 15, "scene": "The two chairs are positioned at the back left and back right, while the table is centered in front of them."}
+{"scene_index": 16, "scene": "The table is located at the back, while there are multiple chairs positioned on both sides of it, specifically two chairs are placed at the back left and one chair is placed at the back right."}
+{"scene_index": 17, "scene": "The first chair is positioned at the back. The table is centered. The second chair is positioned at the back left."}
+{"scene_index": 18, "scene": "The chair is positioned at the back right relative to the table, which is centered."}
+{"scene_index": 19, "scene": "The table is at the center, with two chairs positioned at the back (one on the left)."}
+{"scene_index": 20, "scene": "The two chairs are positioned at the back corners of the room, one on the left and one on the right, while the table is centrally located."}
+{"scene_index": 21, "scene": "The table is centered, with three chairs positioned at the back (one specifically at the back left)."}
+{"scene_index": 22, "scene": "The chair on the right is positioned to the right side, while there are two chairs, one in the center and another also in the center. Additionally, there is a table located in the center."}
+{"scene_index": 23, "scene": "The chair is positioned to the left, while both the table and another chair are at the center."}
+{"scene_index": 24, "scene": "The table is positioned at the back, with chairs located behind it on both sides (back and back right)."}
+{"scene_index": 25, "scene": "The chair is positioned at the back, another chair is at the back left, and the table is centered."}
+{"scene_index": 26, "scene": "The chair is positioned at the back right, another chair is positioned at the back left, and the table is centrally located."}
+{"scene_index": 27, "scene": "The chairs are positioned at the back right and back left, while the table is centered in the room."}
+{"scene_index": 28, "scene": "The chair is located at the back right, the table is in the center, and the other chair is placed at the back left."}
+{"scene_index": 29, "scene": "The chair is located at the back left, another chair is positioned at the back right, and the table is centered."}
+{"scene_index": 30, "scene": "The chair is located at the back, another chair is positioned at the back-left, and the table is centered."}
+{"scene_index": 31, "scene": "The chair is at the back right, another chair is at the back left, and the table is in the center."}
+{"scene_index": 32, "scene": "The chair is positioned at the back, the table is centered, another chair is placed at the back-left, and a third chair is also located at the back."}
+{"scene_index": 33, "scene": "The table is at the back, with chairs positioned on both the back left and back right sides."}
+{"scene_index": 34, "scene": "The table is at the center, with chairs positioned in the back right, back left, and another chair also in the back left."}
+{"scene_index": 35, "scene": "The chair is located at the back-left corner, another chair is at the back-right corner, the table is centered, and there s a table positioned at the front."}
+{"scene_index": 36, "scene": "The table is at the center, with chairs positioned in the back right, back left, and back areas."}
+{"scene_index": 37, "scene": "The table is located at the back, with chairs positioned on both the back left and back right sides."}
+{"scene_index": 38, "scene": "The table is located at the back, with chairs positioned at the back left and two chairs at the back right."}
+{"scene_index": 39, "scene": "The table is located at the back, while the chairs are positioned around it on both sides—two chairs are in the back left and two in the back right."}
+{"scene_index": 40, "scene": "The chair is at the back right, the table is at the back, the chair is at the back left, and there s another chair at the back."}
+{"scene_index": 41, "scene": "The chairs are positioned to the left and center, while the table is located at the front."}
+{"scene_index": 42, "scene": "The table is centered, while the chairs are positioned in the back right and two in the back left."}
+{"scene_index": 43, "scene": "The table is positioned at the back. The chair is positioned at the back. Another chair is positioned at the back left."}
+{"scene_index": 44, "scene": "The chair is positioned at the back, the table is also positioned at the back, and another chair is positioned at the back right."}
+{"scene_index": 45, "scene": "The chair is located at the back, another chair is positioned at the back left, and the table is also placed at the back."}
+{"scene_index": 46, "scene": "The table is at the center, with two chairs positioned diagonally behind it—one in the back right and one in the back left."}
+{"scene_index": 47, "scene": "The table is at the back, with chairs positioned on both the back left and back right sides."}
+{"scene_index": 48, "scene": "The table is at the back, and there are chairs positioned at the back left, back right, back left, and back right."}
+{"scene_index": 49, "scene": "Chair is positioned at the back, chair is positioned at the back left, table is positioned at the center. Each object's position and relationship with its location are clearly described."}
+{"scene_index": 50, "scene": "The chairs are positioned on both the back left and back right sides, while the table is centrally located."}
+{"scene_index": 51, "scene": "The chair is positioned at the back right, another chair is at the back, and the table is centered."}
+{"scene_index": 52, "scene": "The table is at the center, with chairs located at the back left, back right, and left positions."}
+{"scene_index": 53, "scene": "The chair is positioned at the back, another chair is positioned at the back right, and the table is also positioned at the back."}
+{"scene_index": 54, "scene": "The chair has a back. The table is centered. The chair is positioned at the back left."}
+{"scene_index": 55, "scene": "The table is at the center, with two chairs: one centered and one to its left."}
+{"scene_index": 56, "scene": "The table is at the center, with two chairs positioned behind it—both in the back, one to the right."}
+{"scene_index": 57, "scene": "The table is located at the back, and there are chairs positioned at the back, back left, and another chair also at the back."}
+{"scene_index": 58, "scene": "The table is at the center, with chairs positioned at the back, back left, and another back position."}
+{"scene_index": 59, "scene": "The chair is at the back, the table is in the center, the chair is at the back left, and the chair is at the front left."}
+{"scene_index": 60, "scene": "Each  chair  is positioned at the back, with three specifically located at the back left."}
+{"scene_index": 61, "scene": "The table is positioned at the center, with chairs located in the back left, back right, and another chair also in the back right."}
+{"scene_index": 62, "scene": "The table is positioned at the back, with two chairs located on either side of it—two chairs are in the back left and one chair is in the back right."}
+{"scene_index": 63, "scene": "The table is at the center, with chairs positioned in the back left, back right, back left, and two additional chairs placed at the back."}
+{"scene_index": 64, "scene": "The chair is at the center, another chair is at the back-left, and the table is also at the center."}
+{"scene_index": 65, "scene": "The chair is at the back left, the other chair is at the back right, and the table is in the center."}
+{"scene_index": 66, "scene": "The table is at the center, with two chairs positioned behind it—both in the back, one slightly to the right of the other."}
+{"scene_index": 67, "scene": "The chairs are positioned on both sides at the back, while the table is centrally located in the front."}
+{"scene_index": 68, "scene": "The chair is positioned to the left, another chair is at the center, and a table is also centrally located."}
+{"scene_index": 69, "scene": "The chair on the right is positioned to the right, the chair on the left is positioned to the left, and the table is also on the right."}
+{"scene_index": 70, "scene": "The chair is positioned at the back left. The table is positioned at the back. The chair is positioned at the back right."}
+{"scene_index": 71, "scene": "The table is positioned at the back of the room. There are four chairs located around it, with two on the back left and two on the back right."}
+{"scene_index": 72, "scene": "The table is centered, while chairs occupy the back right, two at the back left, and one additional chair also placed at the back left."}
+{"scene_index": 73, "scene": "The table is centered, while there are two chairs located at the back, one positioned to the left of the other."}
+{"scene_index": 74, "scene": "The center chair is positioned at the center, the left chair is located to the left, and the center table is placed centrally."}
+{"scene_index": 75, "scene": "The chairs are positioned at both the back right and back left, while the tables are centrally located."}
+{"scene_index": 76, "scene": "The chair is located at the back left. The table is positioned in the center. The other chair is situated at the back right."}
+{"scene_index": 77, "scene": "The table is positioned at the back, while the chairs are placed around it, with one chair on the back left and three chairs on the back right."}
+{"scene_index": 78, "scene": "The table is positioned at the center, A chair is located at the back, Two chairs are placed at the back left."}
+{"scene_index": 79, "scene": "Chair is located at back left. Table is located at back. Chair is located at back right. Another chair is located at back right."}
+{"scene_index": 80, "scene": "The chair is positioned at the back, another chair is positioned at the back left, and the table is centered in relation to both chairs."}
+{"scene_index": 81, "scene": "The table is at the center, with chairs positioned at back left, back right (twice), and back left (twice)."}
+{"scene_index": 82, "scene": "The chair is positioned at the back. The table is positioned at the back. The chair is positioned at the back right."}
+{"scene_index": 83, "scene": "The chair is positioned at the back right, the other chair is at the back left, and the table is located at the back."}
+{"scene_index": 84, "scene": "The chair is located at the back left, the table is in the center, and the other chair is positioned at the back right."}
+{"scene_index": 85, "scene": "The first chair is positioned at the back. The second chair is located in the back left area. The table is centered."}
+{"scene_index": 86, "scene": "The table is centered, with two chairs positioned at the back and to the right."}
+{"scene_index": 87, "scene": "The chair is positioned at the back right, while the table is also located at the back right, with another chair placed simply at the back."}
+{"scene_index": 88, "scene": "The chair is at the back right, the table is in the center, and there are two chairs at the back left."}
+{"scene_index": 89, "scene": "The chair is at the back, the chair is at the back left, and the table is in the center."}

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+{"subtask_index": 1, "subtask": "Pull the gray chair out from under the dining table"}
+{"subtask_index": 2, "subtask": "Push the blue chair back under the dining table"}
+{"subtask_index": 3, "subtask": "Pull the blue chair out from under the dining table"}
+{"subtask_index": 4, "subtask": "null"}

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