Copy AIRBOT_MMK2_boxs_storage into RoboCOIN_useable

AIRBOT_MMK2_boxs_storage/.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

AIRBOT_MMK2_boxs_storage/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: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_boxs_storage
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 138 |
+| **Total Frames** | 40906 |
+| **Total Tasks** | 3 |
+| **Total Videos** | 552 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 1.2GB |
+
+
+## 👥 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
+Throw the pomegranate into one square and the mango into the other square.
+Throw the potato into one square and the pumpkin into the other square.
+Put the calculator box and the power bank box in the yellow bucket.
+
+### Sub-Tasks
+This dataset includes 15 distinct subtasks:
+
+1. **Grasp the potato with the left gripper** 
+2. **Place the phone case box in the yellow box with the right gripper** 
+3. **Place the pumpkin into the right compartment of the storage box with the right gripper** 
+4. **Place the calculator box in the yellow box with the left gripper** 
+5. **Static** 
+6. **Grasp the calculator box with the left gripper** 
+7. **End** 
+8. **Grasp the mango with the right gripper** 
+9. **Grasp the pomegranate with the left gripper** 
+10. **Place the pomegranate into the left compartment of the storage box with the left gripper** 
+11. **Place the mango into the right compartment of the storage box with the right gripper** 
+12. **Grasp the phone case box with the right gripper** 
+13. **Place the potato into the left compartment of the storage box with the left gripper** 
+14. **Grasp the pumpkin with the right gripper** 
+15. **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 0:137
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_third_view**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 138, "total_frames": 40906, "total_tasks": 3, "total_videos": 552, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:137"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_third_view": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AIRBOT_MMK2_boxs_storage_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_right_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_third_view/
+            ├── 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

AIRBOT_MMK2_boxs_storage/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"}

AIRBOT_MMK2_boxs_storage/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"}

AIRBOT_MMK2_boxs_storage/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"}

AIRBOT_MMK2_boxs_storage/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"}

AIRBOT_MMK2_boxs_storage/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"}

AIRBOT_MMK2_boxs_storage/annotations/scene_annotations.jsonl

@@ -0,0 +1,138 @@
+{"scene_index": 0, "scene": "A yellow basket is at the front. Cubes are located in four positions: one is at the front right, two are at the back (one on the left and one on the right), and boxes are placed on both sides (right and left)."}
+{"scene_index": 1, "scene": "The pomegranate is at the back left, positioned diagonally opposite to the box at the front, which is located centrally in relation to the mango on the right."}
+{"scene_index": 2, "scene": "The pomegranate is on the left, the box is in front, and the mango is at the back right."}
+{"scene_index": 3, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 4, "scene": "The yellow basket is in the front. Cubes are located at the back (both left and right sides) as well as at the back, front, and right sides. Boxes are positioned on both the left and right sides."}
+{"scene_index": 5, "scene": "A yellow basket is at the front. Cubes are located in the back (left and right), as well as in the front right area."}
+{"scene_index": 6, "scene": "The pomegranate is located at the back left position, the box is positioned at the front, and the mango is placed at the back right."}
+{"scene_index": 7, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 8, "scene": "The pumpkin is at the back right, the box is in front, and the potato is at the back left."}
+{"scene_index": 9, "scene": "The pomegranate is at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 10, "scene": "The yellow basket is at the front, while the cubes are positioned in four locations: back left, back right, front right, and one additional cube is also in the back."}
+{"scene_index": 11, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 12, "scene": "The pomegranate is at the back left, the mango is at the back right, and the box is at the front."}
+{"scene_index": 13, "scene": "The potato is at the back left, the pumpkin is at the back right, and the box is at the front."}
+{"scene_index": 14, "scene": "The pomegranate is located at the back left position. The box is positioned at the front. The mango is placed at the back right."}
+{"scene_index": 15, "scene": "The mango is at the back right, the pomegranate is at the back left, and the box is at the front."}
+{"scene_index": 16, "scene": "Yellow basket is in front. Boxes are on the sides (right and left). Cubes are at the back corners (left and right) and also at front right."}
+{"scene_index": 17, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 18, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 19, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 20, "scene": "The pumpkin is located at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 21, "scene": "The back left cubes are positioned at the back-left area, the front yellow basket is located in the front part of the scene, the back right cubes are situated at the back-right area, the back cubes are placed at the back, but their specific position isn t detailed beyond that, and the front right cubes are positioned at the front-right area."}
+{"scene_index": 22, "scene": "The pumpkin is at the back right, the box is at the front, and the potato is at the back left."}
+{"scene_index": 23, "scene": "The yellow basket is positioned at the front; the cubes are located in the following positions: back right, back left, back, and front right; additionally, there are boxs cubes positioned on both sides: left and right."}
+{"scene_index": 24, "scene": "The pumpkin is located at the back right, while the box is positioned at the front."}
+{"scene_index": 25, "scene": "The yellow basket is positioned in the front, while there are cubes located at the front right, back left, back right, and back positions."}
+{"scene_index": 26, "scene": "The pumpkin is located at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 27, "scene": "The yellow basket is at the front. The boxes are on the front left and right sides. Cubes are positioned in the back left, back right, back, front right, and left."}
+{"scene_index": 28, "scene": "The pomegranate is at the back left, the mango is at the back right, and the box is at the front."}
+{"scene_index": 29, "scene": "The pumpkin is located at the back right, the mango potato is at the back left, and the box is positioned in front."}
+{"scene_index": 30, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 31, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 32, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 33, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 34, "scene": "The yellow basket is in the front. Cubes are positioned in the back left, back right, back, and front right. The box cubes are on the left, and the boxes are on the right."}
+{"scene_index": 35, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 36, "scene": "The pomegranate is on the left, the box is in front, and the mango is at the back right."}
+{"scene_index": 37, "scene": "The pumpkin is located at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 38, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 39, "scene": "The yellow basket is at the front. Cubes are positioned at the back left, back right, back, and front right. Boxs are on the left and right."}
+{"scene_index": 40, "scene": "The pumpkin is at the back right, the box is in front, and the potato is at the back left."}
+{"scene_index": 41, "scene": "The yellow basket is in front. The cubes are positioned at the back left, back, back right, and front right."}
+{"scene_index": 42, "scene": "The Yellow Basket is at the front. The Cubes are located in the back right, back left, back, and front right areas. The Boxes are on the left side."}
+{"scene_index": 43, "scene": "The pumpkin is at the back right, the mango potato is at the back left, and the box is in front."}
+{"scene_index": 44, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 45, "scene": "The yellow basket is in front, while cubes are located at the back (left and right sides) and front right."}
+{"scene_index": 46, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 47, "scene": "The yellow basket is in the front Cubes are located at the back left and back right positions Cubes are also present at the front right position Boxes are placed on both the right and left sides"}
+{"scene_index": 48, "scene": "The yellow basket is in the front, and there are cubes positioned at the back (both left and right), as well as boxes on the left and right sides."}
+{"scene_index": 49, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 50, "scene": "The pumpkin is located at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 51, "scene": "The box is at the front, while the mango is located in the back right area and the pomegranate is in the back left area."}
+{"scene_index": 52, "scene": "A yellow basket is in front. Cubes are positioned at the back left, back right, back, and front right."}
+{"scene_index": 53, "scene": "The pomegranate is at the back left, the mango is at the back right, and the box is at the front."}
+{"scene_index": 54, "scene": "The pomegranate is located at the back left position. The box is positioned at the front. The mango is placed at the back right."}
+{"scene_index": 55, "scene": "The yellow basket is in front. The cubes are in back right. The cubes are in back left. The cubes are in back. The cubes are in front right. The boxs are in left."}
+{"scene_index": 56, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 57, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 58, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 59, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 60, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 61, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 62, "scene": "A yellow basket is in front; cubes are positioned at back left, back right, back, and front right."}
+{"scene_index": 63, "scene": "A yellow basket is in the front. Cubes are positioned at the back right, back left, and front right. Additional cubes are located at the back and front. Boxes are on the left and right sides."}
+{"scene_index": 64, "scene": "The box is at the front, the pomegranate is at the back left, and the mango is at the back right."}
+{"scene_index": 65, "scene": "The yellow basket is positioned in front, while the cubes are located at various positions including back, back right, back left, and front right. Additionally, there are boxes on both the right and left sides."}
+{"scene_index": 66, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 67, "scene": "The yellow basket is in the front, there are cubes positioned at the back left, back right, back, and front right, and boxs are located at the front left and right."}
+{"scene_index": 68, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 69, "scene": "The pomegranate is positioned at the back left, the box is in front, and the mango is on the right."}
+{"scene_index": 70, "scene": "The yellow basket is in front There are cubes in the back and on both sides at the back (right and left) as well as a cube in front right Additionally there are boxes placed to the left"}
+{"scene_index": 71, "scene": "The cubes are positioned at the back left, back right, front, and front right; there is a yellow basket located at the front left."}
+{"scene_index": 72, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 73, "scene": "The yellow basket is at the front. The cubes are positioned in four places: back right, front right, back, and back left. There are box cubes on the right and boxes on the left."}
+{"scene_index": 74, "scene": "The yellow basket is at the front, cubes are in multiple positions: back, back right, back left, and front right, boxes are on the left."}
+{"scene_index": 75, "scene": "The pumpkin is positioned at the back right, the box is in front, and the potato is located at the back left."}
+{"scene_index": 76, "scene": "The pumpkin is located at the back right, while the box is positioned in front."}
+{"scene_index": 77, "scene": "The potato is at the back left, the pumpkin is at the back right, and the box is at the front."}
+{"scene_index": 78, "scene": "The yellow basket is at the front. The cubes are positioned in four places: two on the back (one on the back right and one on the back left) and two on the front (one on the front right). Additionally, there are boxes located on both the left and right sides."}
+{"scene_index": 79, "scene": "The yellow basket is at the front Cubes are located in various positions back left back right back and left The box is positioned on the right"}
+{"scene_index": 80, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 81, "scene": "The pumpkin is at the back right, the box is in front, and the potato is at the back left."}
+{"scene_index": 82, "scene": "The pomegranate is at the back, positioned behind or to the rear area; the box is in front, placed ahead or forward; and the mango is located at the back right, situated towards the rear portion on the right side."}
+{"scene_index": 83, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 84, "scene": "The yellow basket is at the front, while the cubes are positioned at the back (both left and right), as well as one cube each at the front right and back."}
+{"scene_index": 85, "scene": "The potato is at the back left, the pumpkin is at the back right, and the box is in front."}
+{"scene_index": 86, "scene": "The yellow basket is in the front. The cubes are located in the back, with two on the left and two on the right. The boxes are positioned on both sides, one on the left and one on the right."}
+{"scene_index": 87, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 88, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 89, "scene": "The yellow basket is in front. The cubes are positioned at back left, back right, back, and front right."}
+{"scene_index": 90, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 91, "scene": "The yellow basket is at the front Cubes are positioned at back left back right and back (though back might imply multiple positions) Boxes are on the left and right sides"}
+{"scene_index": 92, "scene": "The pomegranate is at the back left, the box is in front, and the mango is on the right."}
+{"scene_index": 93, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 94, "scene": "The yellow basket is at the front; cubes are positioned in the back (left and right), as well as the front (right); boxes are on the left and right."}
+{"scene_index": 95, "scene": "The pumpkin is located at the back right position, while the box is situated at the front position."}
+{"scene_index": 96, "scene": "The pomegranate is located at the back left position, the box is positioned at the front, the mango is placed at the back right."}
+{"scene_index": 97, "scene": "The yellow basket is in the front; there are cubes on the back right, back left, and front right sides, as well as in the back; boxes are located on the front left and right sides."}
+{"scene_index": 98, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 99, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 100, "scene": "The yellow basket is positioned in the front. There are cubes located at the back (right and left sides), as well as in the back and front (right side). Additionally, there are boxes on both the right and left sides."}
+{"scene_index": 101, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 102, "scene": "The pumpkin is located at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 103, "scene": "The yellow basket is at the front. Cubes are in multiple positions: back right, back, back left, and front right. Boxes of cubes are on both sides: left and right."}
+{"scene_index": 104, "scene": "The cubes are positioned in the back left, back right, and front right locations, while the yellow basket is placed in the front."}
+{"scene_index": 105, "scene": "The yellow basket is in front cubes are in back right back back left and front right positions boxs are on the left."}
+{"scene_index": 106, "scene": "The pumpkin is positioned at the back right, the box is in front, and the potato is located at the back left."}
+{"scene_index": 107, "scene": "The box is at the front, the mango is at the back right, and the pomegranate is at the back left."}
+{"scene_index": 108, "scene": "The yellow basket is in the front. A cube is on the back left, another cube is on the back, and a third cube is on the back right. There are cubes also on the front right and a box on the right."}
+{"scene_index": 109, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 110, "scene": "The yellow basket is in front, cubes are on the back right, back left, back, and front right, and boxes are on the left and right."}
+{"scene_index": 111, "scene": "A cube is located at the back right area Another cube is positioned at the back left There is a cube in the back area A cube is placed at the front right The yellow basket is situated at the front Boxes are located on the right side A box is positioned on the left side"}
+{"scene_index": 112, "scene": "The pomegranate is located at the back left position while the box is positioned at the front and the mango is placed at the back right."}
+{"scene_index": 113, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 114, "scene": "The yellow basket is in the front. The cubes are located in various positions: two are at the back (left and right), one is in the front right, and another set of cubes is placed on either side—some to the left and some to the right."}
+{"scene_index": 115, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 116, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 117, "scene": "The yellow basket is positioned in the front. The cubes are located at the back (both back right and back left), as well as front right. Additionally, there are boxs cubes on the right and a boxs cube on the left."}
+{"scene_index": 118, "scene": "The back right and back left cubes are positioned at the back of the scene on opposite sides. The front yellow basket is centrally located at the front of the scene. The back cube is situated at the back but without a specific side mentioned, likely in the middle or another position. The front right cube is placed at the front-right corner of the scene. The left box cubes are grouped together on the left side."}
+{"scene_index": 119, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 120, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 121, "scene": "The yellow basket is in front. The cubes are in various positions: two are at the back (left and right), one is in front on the right, and another is entirely at the back."}
+{"scene_index": 122, "scene": "Pumpkin is at back right, box is at front, potato is at back left."}
+{"scene_index": 123, "scene": "The yellow basket is in front. Cubes are positioned at back right, back, front right, and back left."}
+{"scene_index": 124, "scene": "The pomegranate is located at the back left position, The box is positioned at the front, The mango is placed at the back right."}
+{"scene_index": 125, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is at the front."}
+{"scene_index": 126, "scene": "The pomegranate is located at the back left, the box is in front, and the mango is on the right."}
+{"scene_index": 127, "scene": "The yellow basket is at the front, with cubes positioned in the back left, back, back right, and front right areas, while the boxs are located on the left."}
+{"scene_index": 128, "scene": "The yellow basket is in front, cubes are positioned at the back (back left and back right), and a box is on the left."}
+{"scene_index": 129, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 130, "scene": "The yellow basket is in front, with boxs to its front left and cubes positioned at the back (left, right, and front right)."}
+{"scene_index": 131, "scene": "The pomegranate is positioned at the back left, the box is in the front, and the mango is located at the back right."}
+{"scene_index": 132, "scene": "The pomegranate is located at the back left, the mango is at the back right, and the box is in front."}
+{"scene_index": 133, "scene": "The pumpkin is at the back right, the potato is at the back left, and the box is in front."}
+{"scene_index": 134, "scene": "The yellow basket is in the front. The cubes are positioned at the back right, back, front right, and back left. The box is on the left."}
+{"scene_index": 135, "scene": "The pomegranate is at the back left, the box is in front, and the mango is at the back right."}
+{"scene_index": 136, "scene": "The pumpkin is at the back right, the box is in front, and the potato is at the back left."}
+{"scene_index": 137, "scene": "The pomegranate is at the back left, the mango is at the back right, and the box is at the front."}

AIRBOT_MMK2_boxs_storage/annotations/subtask_annotations.jsonl

@@ -0,0 +1,15 @@
+{"subtask_index": 0, "subtask": "Grasp the potato with the left gripper"}
+{"subtask_index": 1, "subtask": "Place the phone case box in the yellow box with the right gripper"}
+{"subtask_index": 2, "subtask": "Place the pumpkin into the right compartment of the storage box with the right gripper"}
+{"subtask_index": 3, "subtask": "Place the calculator box in the yellow box with the left gripper"}
+{"subtask_index": 4, "subtask": "Static"}
+{"subtask_index": 5, "subtask": "Grasp the calculator box with the left gripper"}
+{"subtask_index": 6, "subtask": "End"}
+{"subtask_index": 7, "subtask": "Grasp the mango with the right gripper"}
+{"subtask_index": 8, "subtask": "Grasp the pomegranate with the left gripper"}
+{"subtask_index": 9, "subtask": "Place the pomegranate into the left compartment of the storage box with the left gripper"}
+{"subtask_index": 10, "subtask": "Place the mango into the right compartment of the storage box with the right gripper"}
+{"subtask_index": 11, "subtask": "Grasp the phone case box with the right gripper"}
+{"subtask_index": 12, "subtask": "Place the potato into the left compartment of the storage box with the left gripper"}
+{"subtask_index": 13, "subtask": "Grasp the pumpkin with the right gripper"}
+{"subtask_index": 14, "subtask": "null"}

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AIRBOT_MMK2_boxs_storage/data/chunk-000/episode_000010.parquet

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