Copy R1_Lite_move_the_position_of_the_rubiks_cube into RoboCOIN_useable

R1_Lite_move_the_position_of_the_rubiks_cube/.gitattributes

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

R1_Lite_move_the_position_of_the_rubiks_cube/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_rubiks_cube
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 44 |
+| **Total Frames** | 9055 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 176 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 328.4MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+put the rubiks cube the designated position.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **End** 
+2. **Place the magic cube on the table with right gripper** 
+3. **Place the magic cube on the table with left gripper** 
+4. **Static** 
+5. **Grasp the magic cube with left gripper** 
+6. **Grasp the magic cube with right gripper** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:43
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_left_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 44, "total_frames": 9055, "total_tasks": 1, "total_videos": 176, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:43"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_left_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_right_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [16], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [18], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/eef_direction_annotation.jsonl

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

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "Rubik says back, cube says back, rubik says back left, cube says back left."}
+{"scene_index": 1, "scene": "The Rubik s Cubes are positioned at the center and right sides, while the cubes also occupy both central and right positions."}
+{"scene_index": 2, "scene": "The rubik is to the right, and the cube is also to the right."}
+{"scene_index": 3, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 4, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 5, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 6, "scene": "The first rubik is in the back left, while the cube is also in the back left. Then, the second rubik shifts to the center, and similarly, the cube moves to the center as well."}
+{"scene_index": 7, "scene": "Rubik is at the center. Cube is at the center. Rubik is at the center again. Cube is also at the center again. Rubik is now at the back. Cube is at the back as well. Finally, there's a cube positioned at the back left."}
+{"scene_index": 8, "scene": "The cube is positioned at both back and left, while the rubik shares positions with it."}
+{"scene_index": 9, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 10, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 11, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 12, "scene": "Each  rubik  is paired with a corresponding  cube,  both positioned at either back right or back left."}
+{"scene_index": 13, "scene": "The rubik is at the back left, and so is the cube."}
+{"scene_index": 14, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 15, "scene": "Rubik is positioned at both back and right, while cube is positioned at back, right, and back right."}
+{"scene_index": 16, "scene": "The  back  and  back left  positions describe where the rubik and cube are located."}
+{"scene_index": 17, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 18, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 19, "scene": "The rubik is at the center, and the cube is also at the center."}
+{"scene_index": 20, "scene": "The rubik is at the back, the cube is at the back as well. The rubik is also located at the back left, and the cube is positioned there too."}
+{"scene_index": 21, "scene": "The  Rubik  is positioned at both back and left, while the  Cube  shares the same positions, indicating they occupy identical locations."}
+{"scene_index": 22, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 23, "scene": "The objects are a Rubik s Cube and a cube, all positioned in the back or on the right."}
+{"scene_index": 24, "scene": "Each  rubik  is paired with a  cube  in the same position, and there are two  cube  objects located at back left."}
+{"scene_index": 25, "scene": "Rubik is located at back left and cube is also at back left. Additionally, Rubik is positioned at back right and cube is also at back right. Furthermore, Rubik is placed at right while cube is also at right."}
+{"scene_index": 26, "scene": "The Rubik s Cube is at the center."}
+{"scene_index": 27, "scene": "The rubik is at the back left, sharing that position with the cube, while another rubik is at the back, and a second cube is also at the back."}
+{"scene_index": 28, "scene": "The rubik is at the back left, and so is the cube."}
+{"scene_index": 29, "scene": "The  rubik  is positioned to the right, and the  cube  is also positioned to the right."}
+{"scene_index": 30, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 31, "scene": "Rubik is at the center, cube is at the center, rubik is at the back left, and cube is at the back left."}
+{"scene_index": 32, "scene": "The  rubik  is at the center, while a cube is also centered but another cube is positioned at the back right."}
+{"scene_index": 33, "scene": "The rubik is at the back right position, and the cube is also at the back right position."}
+{"scene_index": 34, "scene": "The rubik is at the back, the cube is at the back as well. The rubik is also located at the back left, and the cube is positioned there too."}
+{"scene_index": 35, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 36, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 37, "scene": "Rubik is in the back left position, and the cube is also in the back left position. Rubik is on the right side, and the cube is also on the right side. Rubik is on the left side, and the cube is also on the left side. The cube is in the center position, and Rubik is also in the center position."}
+{"scene_index": 38, "scene": "The cube is positioned at back right, same as the rubik which is also at back right."}
+{"scene_index": 39, "scene": "There are two Rubiks and two cubes located at the back left position."}
+{"scene_index": 40, "scene": "The rubik is to the right, and the cube is also to the right."}
+{"scene_index": 41, "scene": "Each pair consists of a  rubik  and a  cube,  both located at the  back left  position."}
+{"scene_index": 42, "scene": "The  rubik  is at the back, and the  cube  is also at the back. Additionally, there is a  rubik  located at the back left and another  cube  placed at the back left as well."}
+{"scene_index": 43, "scene": "The rubik is located at the back left position, and it shares that same position with the cube, meaning they are both placed in the back left area."}
+{"scene_index": 44, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 45, "scene": "Rubik is at the center, rubik is on the left, cube is at the center, rubik is at the back right, cube is on the left, cube is at the back right."}
+{"scene_index": 46, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 47, "scene": "rubik is on the left. cube is on the left. rubik is at the back left. cube is at the back left. rubik is in the center. cube is in the center. cube is at the back right. rubik is at the back right."}
+{"scene_index": 48, "scene": "The cube is at the center and back positions, while the rubik is also at both center and back positions."}
+{"scene_index": 49, "scene": "The  rubik  is positioned at both back and left, while the  cube  is also located at both left and back."}
+{"scene_index": 50, "scene": "Rubik is at back left and back right; Cube is at back left and back right."}
+{"scene_index": 51, "scene": "The  rubik  is positioned at the back right, and the  cube  is also positioned at the back right."}
+{"scene_index": 52, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 53, "scene": "The first rubik is at the back right, while the cube is also at the back right. The second rubik is at the back, and the second cube is also at the back."}
+{"scene_index": 54, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 55, "scene": "The rubik is at back left; the cube is also at back left."}
+{"scene_index": 56, "scene": "The Rubik s Cube is at back right."}
+{"scene_index": 57, "scene": "The rubik is at the back right, while the cube is also at the back right. Additionally, there s a rubik at the back left and another cube at the back left as well."}
+{"scene_index": 58, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 59, "scene": "The Rubik s Cube is positioned at the back."}
+{"scene_index": 60, "scene": "Rubik has back right, right, center. Cube has back right, right, center, front right."}
+{"scene_index": 61, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 62, "scene": "The rubik is at back left, sharing that position with the cube; separately, the rubik is also at back right, alongside the cube in that location."}
+{"scene_index": 63, "scene": "The rubik is at the back right, and the cube is also at the back right."}
+{"scene_index": 64, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 65, "scene": "Rubik is positioned at front right, with a cube also at front right. Additionally, Rubik is located at back right, accompanied by another cube there as well. Lastly, Rubik is placed on the left side, with a cube also present on the left."}
+{"scene_index": 66, "scene": "The  back right  rubik is to the back right side of the cube, which is also at the back right position. The  center  rubik is at the center of the cube, which is also in the center position."}
+{"scene_index": 67, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 68, "scene": "The object  rubik  is at the center and back left positions, while the object  cube  is at the center and back left positions as well. Additionally,  ik  is located at the front right position along with another  cube. "}
+{"scene_index": 69, "scene": "The rubik is at the back left, and the cube is also at the back left. Additionally, there s a rubik at the back right and a cube at the back right."}
+{"scene_index": 70, "scene": "Rubik is positioned to the right. Rubik is at the center. Cube is at the center. Cube is positioned to the right."}
+{"scene_index": 71, "scene": "The  rubik  is positioned at both back and center, with a corresponding  cube  also placed at back and center."}
+{"scene_index": 72, "scene": "The  rubik  is positioned at the back and right, while the  cube  shares the same positions."}
+{"scene_index": 73, "scene": "The  rubik  is at the back right, while the  cube  is also at the back right. Additionally, there s another  rubik  at the back and a second  cube  at the back."}
+{"scene_index": 74, "scene": "The rubik and cube share the same position as both being at the back and right sides."}
+{"scene_index": 75, "scene": "The rubik is at the back right position, and the cube is also at the back right position."}
+{"scene_index": 76, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 77, "scene": "Rubik is on the right, while Cube is also on the right. Additionally, Rubik is located at the back left, and so is Cube."}
+{"scene_index": 78, "scene": "The rubik is at the back right, and so is the cube."}
+{"scene_index": 79, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 80, "scene": "The rubik is on the right, and so is the cube; they share the same position on the right."}
+{"scene_index": 81, "scene": "The rubik is at back left; the cube is also at back left."}
+{"scene_index": 82, "scene": "Rubik is at the center, and Cube is also at the center. Additionally, Rubik is positioned at the back, while Cube is also positioned at the back."}
+{"scene_index": 83, "scene": "The cube is positioned at back right, same as the rubik which is also at back right."}
+{"scene_index": 84, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 85, "scene": "The rubik is on the right, the cube is also on the right. The rubik is at the back left, and the cube is also at the back left. The rubik is in the center, and the cube is also in the center."}
+{"scene_index": 86, "scene": "Both  rubik  and  cube  are located on the right side."}
+{"scene_index": 87, "scene": "Rubik is at the back Cube is at the back Rubik is on the left Cube is on the left Rubik is in the back left Cube is in the back left."}
+{"scene_index": 88, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 89, "scene": "The rubik is on the left side, while the cube is also on the left. Additionally, there s another rubik located at the back right and a corresponding cube placed at the back right as well."}
+{"scene_index": 90, "scene": "Rubik is at the back Cube is at the back Rubik is at the back right Cube is at the back right"}
+{"scene_index": 91, "scene": "Rubik is in the Back Right position, shared with the Cube located at Back Right. Cube is in the Center position, shared with Rubik located at Center."}
+{"scene_index": 92, "scene": "The Rubik is at the center, and the cube is also at the center."}
+{"scene_index": 93, "scene": "The  rubik  is at the back, and also located at the back right. The  cube  is at the back, and also located at the back right and the right."}
+{"scene_index": 94, "scene": "The  back right  Rubik s cube is positioned at the back right location, while another cube is located to its left."}
+{"scene_index": 95, "scene": "The  rubik  is positioned at the back right and center, while the  cube  is located at the back left, center (two instances), and back right."}
+{"scene_index": 96, "scene": "The rubik is at the back left, and so is the cube."}
+{"scene_index": 97, "scene": "The  rubik  is positioned at the back right, and the  cube  is also positioned at the back right."}
+{"scene_index": 98, "scene": "The rubik is to the right, and the cube is also to the right."}
+{"scene_index": 99, "scene": "Rubik is to the left of Cube."}
+{"scene_index": 100, "scene": "The rubik is positioned at both back right and right, while the cube is also positioned at both back right and right."}
+{"scene_index": 101, "scene": "The objects  rubik  and  cube  are both positioned at the center and back left."}
+{"scene_index": 102, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 103, "scene": "The  rubik  and  cube  are positioned at the back and back left."}
+{"scene_index": 104, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 105, "scene": "Each  rubik  and  cube  is located in the back left position."}
+{"scene_index": 106, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 107, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 108, "scene": "The rubik is at the center, and the cube is also at the center."}
+{"scene_index": 109, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 110, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 111, "scene": "The  rubik  is located at the back right and also appears at the back and left positions, while the  cube  is positioned at the back and left."}
+{"scene_index": 112, "scene": "Both the  rubik  and the  cube  share the same position, which is the center."}
+{"scene_index": 113, "scene": "Rubik is located at the back, and it also occupies the back left and back right positions; Cube shares the same back, back left, and back right positions as Rubik."}
+{"scene_index": 114, "scene": "rubikbackcubebackrubikbackleftcubebackleft"}
+{"scene_index": 115, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 116, "scene": "Each  rubik  and  cube  is positioned in specific locations, with duplicates at the same positions."}
+{"scene_index": 117, "scene": "The first Rubik s Cube is in the back left, while the second one is in the back right."}
+{"scene_index": 118, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 119, "scene": "The rubik is located at the back left position, and it shares that same position with the cube, meaning they are both placed in the back left area."}
+{"scene_index": 120, "scene": "The Rubik is at the back left and center while the cube shares these positions with it Additionally the ik which may be a typo or abbreviation for another object is located at the back right along with a cube"}
+{"scene_index": 121, "scene": "The rubik is on the left and the cube is also on the left."}
+{"scene_index": 122, "scene": "Rubik is located at the center, Cube is located at the center, Rubik is located at the back, Cube is located at the back, Rubik is located at the center, Rubik is located at the back left, Cube is located at the back right, Rubik is located at the back right, Cube is located at the back left, Cube is located at the center."}
+{"scene_index": 123, "scene": "The rubik is at the center, and the cube is also at the center."}
+{"scene_index": 124, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 125, "scene": "The rubik is on the left side, while another rubik is in the center. Additionally, there are three cubes: one also on the left, another in the center, and a third positioned at the back."}
+{"scene_index": 126, "scene": "The rubik is at the back right, and the cube is also at the back right."}
+{"scene_index": 127, "scene": "Rubik is at the back rubik is at the back right cube is at the back cube is at the back right rubik is on the right cube is on the right"}
+{"scene_index": 128, "scene": "The  rubik  is positioned at both the back left and center, while the  cube  is also positioned at both the back left and center."}
+{"scene_index": 129, "scene": "The rubik is positioned to the right, and the cube is also positioned to the right."}
+{"scene_index": 130, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 131, "scene": "Rubik is at the center. Cube is at the back. Rubik is at the back right. Cube is also at the back right."}
+{"scene_index": 132, "scene": "The Rubik s Cube is located at the back left position."}
+{"scene_index": 133, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 134, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 135, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 136, "scene": "The rubik is on the left with a cube also on the left. The ik is positioned at the back-right alongside another cube that shares its location."}
+{"scene_index": 137, "scene": "The rubik is located at the back left position, and it shares that same position with the cube, meaning they are both placed in the back left area."}
+{"scene_index": 138, "scene": "The rubik is at the back left, sharing the same position as the cube. The second rubik is at the back right, sharing the same position as the second cube."}
+{"scene_index": 139, "scene": "Both  rubik  and  cube  are located on the left side."}
+{"scene_index": 140, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 141, "scene": "Both  Rubik  and  Cube  are located on the right side."}
+{"scene_index": 142, "scene": "Rubik is at the back right Cube is at the back right Rubik is at the back Cube is at the back"}
+{"scene_index": 143, "scene": "The rubik is on the left, and the cube is also on the left."}
+{"scene_index": 144, "scene": "Rubik is at back left. Cube is at back left. Rub is at back. Cube is at back."}
+{"scene_index": 145, "scene": "Rubik and Cube both have their Back Right Rubik and Cube also have their Back Left Additionally ik has Center while Cube also has its Center"}
+{"scene_index": 146, "scene": "The  Rubik  is at the back left, while the  Cube  is also at the back left. Both objects share the same position."}
+{"scene_index": 147, "scene": "The objects  Rubik  and  Cube  are both positioned to the left and back."}
+{"scene_index": 148, "scene": "Rubik is positioned on the right, while a cube shares the same right position. Additionally, Rubik and another cube are both located at back left and back right positions respectively."}
+{"scene_index": 149, "scene": "Rubik is located at the back left, sharing the same position as cube."}
+{"scene_index": 150, "scene": "Both  rubik  and  cube  are positioned at the back."}
+{"scene_index": 151, "scene": "The rubik is at the back left, and so is the cube."}
+{"scene_index": 152, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 153, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 154, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 155, "scene": "The rubik is at back left; the cube is also at back left."}
+{"scene_index": 156, "scene": "There are two Rubik s Cubes located in the back right position."}
+{"scene_index": 157, "scene": "Each  rubik  is positioned at the specified location relative to its associated  cube ."}
+{"scene_index": 158, "scene": "Rubik is located at the back left, sharing the same position as cube."}
+{"scene_index": 159, "scene": "The rubik is at the back, and the cube is also at the back. Additionally, there s a rubik at the back left and another cube at the back left."}
+{"scene_index": 160, "scene": "The  rubik  is located at the back right and also in the center, while the  cube  is also present at both the back right and center positions."}
+{"scene_index": 161, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 162, "scene": "The rubik is at the back left, and the cube is also at the back left."}
+{"scene_index": 163, "scene": "Rubik is located at the back left, sharing the same position as cube."}
+{"scene_index": 164, "scene": "The  rubik  is centered at the back, while the  cube  shares the central position but there s no additional information about their relationship."}
+{"scene_index": 165, "scene": "Both  rubik  and  cube  are located on the right side."}
+{"scene_index": 166, "scene": "Both the  rubik  and the  cube  share the same position, which is the center."}
+{"scene_index": 167, "scene": "The  rubik  is located at the back right and also on the right. The  cube  is similarly placed at both the back right and the right positions."}
+{"scene_index": 168, "scene": "The objects  rubik  and  cube  are both positioned at the back, with  rubik  located specifically at the back right."}
+{"scene_index": 169, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 170, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 171, "scene": "The rubik is at the back, while the cube is also at the back. The rubik is positioned back left, with the cube also located back left. Additionally, both the rubik and cube are in the center."}
+{"scene_index": 172, "scene": "Rubik is on the left and right sides; Cube is also on the left and right sides. Rubik is at the back; Cube is also at the back."}
+{"scene_index": 173, "scene": "The two Rubik s Cubes are located at both the back right and back left positions."}
+{"scene_index": 174, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 175, "scene": "Each  rubik  and  cube  is positioned in the back left area."}
+{"scene_index": 176, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 177, "scene": "rubik is at back left and center cube is at back left and center (multiple instances)."}
+{"scene_index": 178, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 179, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 180, "scene": "The Rubik s Cube is positioned at the back-left location."}
+{"scene_index": 181, "scene": "Each pair of  rubik  and  cube  is positioned at the back right."}
+{"scene_index": 182, "scene": "The rubik is at the back left, and so is the cube."}
+{"scene_index": 183, "scene": "Rubik is on the right, cube is on the right, Rubik is at the back left, cube is at the back left, cube is at the back right."}
+{"scene_index": 184, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 185, "scene": "The rubik is at the back, and the cube is also at the back. The rubik is additionally located at the back right, while the cube is also situated at the back right."}
+{"scene_index": 186, "scene": "Rubik is located at the back left, sharing the same position as cube."}
+{"scene_index": 187, "scene": "The Rubik s Cube is on the left."}
+{"scene_index": 188, "scene": "The Rubik s Cube is at the center."}
+{"scene_index": 189, "scene": "The Rubik is on the left and back positions, while the cube is also on the back and left positions."}
+{"scene_index": 190, "scene": "rubik is at the center. rubik is at the back. cube is at the back. cube is at the center. rubik is at the center. rubik is at the center. cube is at the center. cube is at the center."}
+{"scene_index": 191, "scene": "The rubik is at the back, and the cube is also at the back."}
+{"scene_index": 192, "scene": "The rubik is positioned at the back, while the cube is also located at the back and back right positions."}
+{"scene_index": 193, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 194, "scene": "The  rubik  is positioned at the back and also at the back left, while the  cube  shares the same positions with the  rubik. "}
+{"scene_index": 195, "scene": "There are two Rubik s Cubes and one cube in the scene. The Rubik s Cubes are located at back right and back left positions, while the single cube is at the center position."}
+{"scene_index": 196, "scene": "The rubik is located at the back left position, and it shares that same position with the cube, meaning they are both placed in the back left area."}
+{"scene_index": 197, "scene": "The rubik is at the back position while the cube is also at the back; additionally, the rubik is on the right side and the cube is also on the right."}
+{"scene_index": 198, "scene": "Both  Rubik  and  cube  are positioned at the back."}
+{"scene_index": 199, "scene": "Both the  rubik  and the  cube  share the same position, which is the center."}

R1_Lite_move_the_position_of_the_rubiks_cube/annotations/subtask_annotations.jsonl

@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "End"}
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+{"subtask_index": 2, "subtask": "Place the magic cube on the table with left gripper"}
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