Copy R1_Lite_move_the_position_of_the_long_bread into RoboCOIN_useable

R1_Lite_move_the_position_of_the_long_bread/.gitattributes

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

R1_Lite_move_the_position_of_the_long_bread/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_long_bread
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 31 |
+| **Total Frames** | 9249 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 124 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 344.7MB |
+
+
+## 👥 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 long bread the designated position.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Grasp the long bread with right gripper** 
+2. **Grasp the long bread with left gripper** 
+3. **Place the long bread on the table with right gripper** 
+4. **Place the long bread on the table with left gripper** 
+5. **Abnormal** 
+6. **Static** 
+7. **End** 
+8. **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 0:30
+
+
+## 📁 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": 31, "total_frames": 9249, "total_tasks": 1, "total_videos": 124, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:30"}, "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_long_bread_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_move_the_position_of_the_long_bread/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_move_the_position_of_the_long_bread/annotations/eef_direction_annotation.jsonl

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

R1_Lite_move_the_position_of_the_long_bread/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_long_bread/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_long_bread/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_move_the_position_of_the_long_bread/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The white table is positioned at the back, with the bread placed centrally on it."}
+{"scene_index": 1, "scene": "The white table is positioned at the back, and the bread is located to the right of it."}
+{"scene_index": 2, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 3, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 4, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 5, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 6, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 7, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 8, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 9, "scene": "The white table is located at the back, positioned behind the bread which is also placed at the back."}
+{"scene_index": 10, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 11, "scene": "The white table and bread are both positioned at the back."}
+{"scene_index": 12, "scene": "The white table is at the back, and the bread is located on the back left side of the table."}
+{"scene_index": 13, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 14, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 15, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 16, "scene": "The white table is at the back, with two loaves of bread positioned on the back right side of the table."}
+{"scene_index": 17, "scene": "The white table is positioned at the back, while the two loaves of bread are located on the back right side."}
+{"scene_index": 18, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 19, "scene": "The white table is positioned at the back, while the bread is placed in the center."}
+{"scene_index": 20, "scene": "The white table is positioned at the back, with two pieces of bread located on its surface—one near the back right corner and another directly behind it."}
+{"scene_index": 21, "scene": "The white table is positioned at the back, while the bread is placed centrally on it."}
+{"scene_index": 22, "scene": "The white table is at the back, with two loaves of bread placed on it—one positioned towards the back and the other towards the back-left."}
+{"scene_index": 23, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 24, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 25, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 26, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 27, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 28, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 29, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 30, "scene": "The white table and bread are both positioned at the back."}
+{"scene_index": 31, "scene": "The white table is positioned at the back, and the bread is also located at the back, indicating they share the same positional relationship."}
+{"scene_index": 32, "scene": "The white table is at the back, with two loaves of bread—one positioned at the back of the table and the other in the center."}
+{"scene_index": 33, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 34, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 35, "scene": "The white table is positioned at the back, while the bread is located at the back right."}
+{"scene_index": 36, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 37, "scene": "The white table is positioned at the back, with two loaves of bread placed behind it; one loaf is located at the back left."}
+{"scene_index": 38, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 39, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 40, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 41, "scene": "The white table was positioned at the back. The bread was located in the back-right area, along with two additional pieces of bread also placed in the back-right and back positions."}
+{"scene_index": 42, "scene": "The white table is at the back, and the bread is located on the back left side of the table."}
+{"scene_index": 43, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 44, "scene": "The white table is at the back, with two loaves of bread positioned behind it—both to the back and one also to the back left."}
+{"scene_index": 45, "scene": "The white table is positioned at the back, with two loaves of bread placed symmetrically on either side—specifically one on the back left and another on the back right."}
+{"scene_index": 46, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 47, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 48, "scene": "The white table and bread are both positioned at the back."}
+{"scene_index": 49, "scene": "The white table is at the back, with two loaves of bread placed on it—one centrally located and the other positioned towards the back right corner."}
+{"scene_index": 50, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 51, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 52, "scene": "The white table is positioned at the back, with two breads placed nearby—one specifically at the back right and the other also located at the back."}
+{"scene_index": 53, "scene": "The white table is positioned at the back, with two loaves of bread placed behind it—one directly behind the table and another in the back right area."}
+{"scene_index": 54, "scene": "The white table is positioned at the back, with three loaves of bread placed on it, one located at the back left and two others at the back right."}
+{"scene_index": 55, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 56, "scene": "The white table is positioned at the back, with a bread located at the back and another bread placed at the back left."}
+{"scene_index": 57, "scene": "The white table is positioned at the back, while a piece of bread is located at the center and another piece is placed at the back left."}
+{"scene_index": 58, "scene": "The white table is at the back, with two loaves of bread positioned behind it—both a single loaf on the back left and another loaf simply at the back."}
+{"scene_index": 59, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 60, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 61, "scene": "The white table is positioned at the back, with two loaves of bread placed on it—one located at the back right and the other at the back."}
+{"scene_index": 62, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 63, "scene": "The white table is positioned at the back, with two loaves of bread placed on it—one located further back and the other in the back right corner."}
+{"scene_index": 64, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 65, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 66, "scene": "The white table is located at the back, positioned behind the bread which is also placed at the back."}
+{"scene_index": 67, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 68, "scene": "The white table is at the back, with two loaves of bread positioned on the back right side."}
+{"scene_index": 69, "scene": "The white table is located at the back, positioned behind the bread which is also placed at the back."}
+{"scene_index": 70, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 71, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 72, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 73, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 74, "scene": "The white table is positioned at the back, with the bread placed centrally on it."}
+{"scene_index": 75, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 76, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 77, "scene": "The white table is at the back, with two loaves of bread placed on it—one located at the back left and one positioned centrally towards the back."}
+{"scene_index": 78, "scene": "The white table is at the back, with two loaves of bread—one in the center and one on the left—placed on it."}
+{"scene_index": 79, "scene": "The white table is at the back, with two loaves of bread positioned: one also at the back and another to its right."}
+{"scene_index": 80, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 81, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 82, "scene": "The white table is located at the back, positioned behind the bread which is also placed at the back."}
+{"scene_index": 83, "scene": "The white table is located at the back, positioned behind the bread which is also placed at the back."}
+{"scene_index": 84, "scene": "The white table is positioned at the back, with two loaves of bread placed on either side—specifically, one on the back right and another on the back left."}
+{"scene_index": 85, "scene": "The white table is positioned at the back, with two loaves of bread placed on it—one located centrally on the table and another situated towards the back right corner."}
+{"scene_index": 86, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 87, "scene": "The white table is positioned at the back, while the bread is located at the back right."}
+{"scene_index": 88, "scene": "The white table is located at the back, with two loaves of bread positioned behind it—one centrally and one to the back right."}
+{"scene_index": 89, "scene": "The white table is positioned at the back, with a bread placed on its back right side and another bread located in the center."}
+{"scene_index": 90, "scene": "The white table is located at the back, with two loaves of bread placed on it—one positioned to the back right and the other to the back left."}
+{"scene_index": 91, "scene": "The white table is positioned at the back, with two breads located to its back right side."}
+{"scene_index": 92, "scene": "The white table is at the back, with three pieces of bread placed on its back right side."}
+{"scene_index": 93, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 94, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 95, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 96, "scene": "The white table is positioned at the back, with two loaves of bread placed on it—one located at the back right and the other in the center."}
+{"scene_index": 97, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 98, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 99, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 100, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 101, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 102, "scene": "The white table is positioned at the back, with two loaves of bread placed symmetrically on either side—both situated at the back, one slightly to the left and the other slightly to the right."}
+{"scene_index": 103, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 104, "scene": "The white table is positioned at the back, while the bread is located on its right side."}
+{"scene_index": 105, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 106, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 107, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 108, "scene": "The white table is at the back, with a bread also positioned at the back and another bread placed to its right."}
+{"scene_index": 109, "scene": "The white table and bread are both positioned at the back."}
+{"scene_index": 110, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 111, "scene": "The white table is at the back, and the bread is located on the back left side of the table."}
+{"scene_index": 112, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 113, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 114, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 115, "scene": "The white table is located at the back, while the bread is positioned to its right."}
+{"scene_index": 116, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 117, "scene": "The white table is positioned at the back, and to its right is the bread."}
+{"scene_index": 118, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 119, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 120, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 121, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 122, "scene": "The white table is positioned at the back, with the bread located behind it on the right side."}
+{"scene_index": 123, "scene": "The white table is positioned at the back, while the two loaves of bread are located at the back right."}
+{"scene_index": 124, "scene": "The white table is positioned at the back. On it, there are two breads—one located at the back right and another at the center."}
+{"scene_index": 125, "scene": "The white table is positioned at the back, with two loaves of bread placed on it; one is at the back center, and the other is slightly to the back left."}
+{"scene_index": 126, "scene": "The white table is positioned at the back, with two loaves of bread placed on its surface at the back right location."}
+{"scene_index": 127, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 128, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 129, "scene": "The white table is at the back, with two loaves of bread placed on it—one positioned further back and the other slightly to the left."}
+{"scene_index": 130, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 131, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 132, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 133, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 134, "scene": "The white table is located at the back, with the bread also positioned behind it."}
+{"scene_index": 135, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 136, "scene": "The white table is positioned at the back, while the bread is located at the back right."}
+{"scene_index": 137, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 138, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 139, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 140, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 141, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 142, "scene": "The white table is at the back, with the bread positioned on its back-left side."}
+{"scene_index": 143, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 144, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 145, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 146, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 147, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 148, "scene": "The white table is at the back, with two loaves of bread placed on it—one in the center and one slightly to the left."}
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+{"scene_index": 152, "scene": "The white table is positioned at the back, with the bread placed centrally on it."}
+{"scene_index": 153, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 154, "scene": "The white table is positioned at the back, while the bread is placed in the center."}
+{"scene_index": 155, "scene": "The white table is positioned at the back, with the bread located behind it on the right side."}
+{"scene_index": 156, "scene": "The white table is positioned at the back, with three breads placed on it: one on the back left, another on the back right, and a third in the center of the back area."}
+{"scene_index": 157, "scene": "The white table is located at the back, while the bread is positioned to the right."}
+{"scene_index": 158, "scene": "The white table is located at the back, with three breads positioned at the back, back left, and left sides relative to it."}
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+{"scene_index": 160, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 161, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 162, "scene": "The white table is positioned at the back, while two loaves of bread are located on either side of it—back right and back left."}
+{"scene_index": 163, "scene": "The white table is positioned at the back, and the bread is also located at the back, indicating they share the same positional relationship."}
+{"scene_index": 164, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 165, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 166, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 167, "scene": "The white table is located at the back, while the bread is situated to the right side."}
+{"scene_index": 168, "scene": "The white table is at the back, and the bread is located on the back left side of the table."}
+{"scene_index": 169, "scene": "The white table is positioned at the back, with two loaves of bread placed on it—one located towards the back left and the other towards the back right."}
+{"scene_index": 170, "scene": "The white table is positioned at the back, with a bread placed in the back right area and another bread located centrally on it."}
+{"scene_index": 171, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 172, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 173, "scene": "The white table is positioned at the back, while the bread is located at the back right."}
+{"scene_index": 174, "scene": "The white table is positioned at the back, with the bread placed centrally on it."}
+{"scene_index": 175, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 176, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 177, "scene": "The white table is at the back, and the bread is also at the back."}
+{"scene_index": 178, "scene": "The white table and bread are both positioned at the back."}
+{"scene_index": 179, "scene": "The white table is positioned at the back, with the bread placed on its back left side."}
+{"scene_index": 180, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 181, "scene": "The white table is positioned at the back, and the bread is also located at the back, indicating they share the same positional relationship."}
+{"scene_index": 182, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 183, "scene": "The white table is positioned at the back, with the bread located on its back right side."}
+{"scene_index": 184, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 185, "scene": "The white table is positioned at the back, while the two loaves of bread are located on the back right side."}
+{"scene_index": 186, "scene": "The white table is positioned at the back, with the bread located behind it on the right side."}
+{"scene_index": 187, "scene": "The white table is positioned at the back, and the bread is also located at the back, sharing the same positional relationship."}
+{"scene_index": 188, "scene": "The white table is positioned at the back, with two loaves of bread placed on either side—both to its back left and back right."}
+{"scene_index": 189, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 190, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 191, "scene": "The white table is positioned at the back, with the bread located towards the back right on it."}
+{"scene_index": 192, "scene": "The white table is positioned at the back, while the bread is located at the back right on the table."}
+{"scene_index": 193, "scene": "The white table is positioned at the back, with the bread located on its back-left side."}
+{"scene_index": 194, "scene": "The white table is positioned at the back, while the bread is located at the center."}
+{"scene_index": 195, "scene": "The white table is positioned at the back, and the bread is also located at the back, indicating they share the same positional relationship."}
+{"scene_index": 196, "scene": "The white table is located at the back, with the bread positioned towards the back right area."}
+{"scene_index": 197, "scene": "The white table is at the back, with two breads placed on it—one positioned back right and the other simply at back."}
+{"scene_index": 198, "scene": "The white table is positioned at the back, with a bread placed to its right and another bread located at the back left."}
+{"scene_index": 199, "scene": "The white table is positioned at the back, with the bread placed to its left."}

R1_Lite_move_the_position_of_the_long_bread/annotations/subtask_annotations.jsonl

@@ -0,0 +1,8 @@
+{"subtask_index": 0, "subtask": "Grasp the long bread with right gripper"}
+{"subtask_index": 1, "subtask": "Grasp the long bread with left gripper"}
+{"subtask_index": 2, "subtask": "Place the long bread on the table with right gripper"}
+{"subtask_index": 3, "subtask": "Place the long bread on the table with left gripper"}
+{"subtask_index": 4, "subtask": "Abnormal"}
+{"subtask_index": 5, "subtask": "Static"}
+{"subtask_index": 6, "subtask": "End"}
+{"subtask_index": 7, "subtask": "null"}

R1_Lite_move_the_position_of_the_long_bread/annotations/subtasks.jsonl

@@ -0,0 +1,8 @@
+{"subtask_index": 0, "subtask": "Abnormal"}
+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "End"}
+{"subtask_index": 3, "subtask": "Place the long bread on the table with right gripper"}
+{"subtask_index": 4, "subtask": "Grasp the long bread with right gripper"}
+{"subtask_index": 5, "subtask": "Place the long bread on the table with left gripper"}
+{"subtask_index": 6, "subtask": "Grasp the long bread with left gripper"}
+{"subtask_index": 7, "subtask": "null"}

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