diff --git a/R1_Lite_build_blocks/.gitattributes b/R1_Lite_build_blocks/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/R1_Lite_build_blocks/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/R1_Lite_build_blocks/README.md b/R1_Lite_build_blocks/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f18c699b411795325d818e9b9900056edaf5893a --- /dev/null +++ b/R1_Lite_build_blocks/README.md @@ -0,0 +1,695 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +frame_range: 10K-100K + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# R1_Lite_build_blocks + +## πŸ“‹ 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` +- `living_room` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 66 | +| **Total Frames** | 59296 | +| **Total Tasks** | 1 | +| **Total Videos** | 264 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 1.8GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +place the arched building blocks in the center of the table, set up the rectangular building blocks, and then set up the triangular building blocks. + +### Sub-Tasks +This dataset includes 9 distinct subtasks: + +1. **Place the arch-shaped block in the center of view with the left gripper** +2. **Grasp the arch-shaped block with the left gripper** +3. **Place the triangle-shaped block onto the box-shaped block with the left grippe** +4. **Grasp the box-shaped block with the right gripper** +5. **Place the box-shaped block onto the arch-shaped block with the right gripper** +6. **Static** +7. **End** +8. **Grasp the triangle-shaped block with the left gripper** +9. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 4 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:65 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.cam_high_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": 66, + "total_frames": 59296, + "total_tasks": 1, + "total_videos": 264, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:65" + }, + "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_build_blocks_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_left_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_right_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/R1_Lite_build_blocks/annotations/eef_acc_mag_annotation.jsonl b/R1_Lite_build_blocks/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/R1_Lite_build_blocks/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/R1_Lite_build_blocks/annotations/eef_direction_annotation.jsonl b/R1_Lite_build_blocks/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/R1_Lite_build_blocks/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/R1_Lite_build_blocks/annotations/eef_velocity_annotation.jsonl b/R1_Lite_build_blocks/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/R1_Lite_build_blocks/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/R1_Lite_build_blocks/annotations/gripper_activity_annotation.jsonl b/R1_Lite_build_blocks/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/R1_Lite_build_blocks/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/R1_Lite_build_blocks/annotations/gripper_mode_annotation.jsonl b/R1_Lite_build_blocks/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/R1_Lite_build_blocks/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/R1_Lite_build_blocks/annotations/scene_annotations.jsonl b/R1_Lite_build_blocks/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc8ee01e11263350eb845e7e6469189c2f08e0c3 --- /dev/null +++ b/R1_Lite_build_blocks/annotations/scene_annotations.jsonl @@ -0,0 +1,69 @@ +{"scene_index": 0, "scene": "The small blocks are positioned at the back left and back right."} +{"scene_index": 1, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 2, "scene": "Three small blocks are positioned at the back of a structure: two on the left side and one on the right side."} +{"scene_index": 3, "scene": "The small blocks are positioned at the back, with two occupying the left and right sides and one in the center."} +{"scene_index": 4, "scene": "Three small blocks are positioned at the back left, with two located there and one also placed at the back right."} +{"scene_index": 5, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 6, "scene": "The small blocks are positioned at the back right and twice on the back left, with two blocks placed in the same location."} +{"scene_index": 7, "scene": "There are three small blocks positioned at the back right, back left, and back left."} +{"scene_index": 8, "scene": "There are three small blocks positioned at the back right, back left, and back left."} +{"scene_index": 9, "scene": "There are three small blocks positioned at the back right, back left, and back left."} +{"scene_index": 10, "scene": "The small blocks are positioned at the back right and twice on the back left, with two blocks placed in the same location."} +{"scene_index": 11, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 12, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 13, "scene": "The small blocks are positioned at the back left and back right."} +{"scene_index": 14, "scene": "The two small blocks are positioned at the back left, with one located to the left of the other. The third small block is positioned at the back right."} +{"scene_index": 15, "scene": "The small blocks are positioned at the back, with one on the right and one on the left."} +{"scene_index": 16, "scene": "Three small blocks are positioned at the back of a structure, two on the left side and one on the right."} +{"scene_index": 17, "scene": "There are three small blocks positioned at the back left and back right sides, with two of them specifically located at the back left."} +{"scene_index": 18, "scene": "There are three small blocks positioned at the back left and back right sides, with two of them specifically located at the back left."} +{"scene_index": 19, "scene": "There are three small blocks positioned at the back left and back right sides, with two of them specifically located at the back left."} +{"scene_index": 20, "scene": "Each small block is positioned at either the back right or back left; two blocks are in the back left while one is in the back right."} +{"scene_index": 21, "scene": "Each small block is positioned at either the back right or back left; two blocks are in the back left while one is in the back right."} +{"scene_index": 22, "scene": "Three small blocks are positioned at the back of a structure, two on the left side and one on the right."} +{"scene_index": 23, "scene": "Each small block is positioned at the back left, with two blocks in that same location and one additional small block at the back right."} +{"scene_index": 24, "scene": "The two small blocks are both located at the back, with one positioned on the left and the other on the right."} +{"scene_index": 25, "scene": "The small blocks are positioned at the back left, back right, and another is also placed at the back left."} +{"scene_index": 26, "scene": "Three small blocks are positioned at the back left, with two located there and one also placed at the back right."} +{"scene_index": 27, "scene": "The small blocks are positioned at the back left and back right."} +{"scene_index": 28, "scene": "Three small blocks are positioned at the back of a structure, two on the left side and one on the right."} +{"scene_index": 29, "scene": "The small blocks are positioned at back right, back left, and another back left."} +{"scene_index": 30, "scene": "Each small block is positioned at either the back right or back left; two blocks are in the back left while one is in the back right."} +{"scene_index": 31, "scene": "Each small block is positioned at the back left, with two blocks in that same location and one additional small block at the back right."} +{"scene_index": 32, "scene": "Three small blocks are positioned at the back of a structure, two on the left side and one on the right."} +{"scene_index": 33, "scene": "The two small blocks are positioned at the back left, with one located to the left of the other. The third small block is positioned at the back right."} +{"scene_index": 34, "scene": "Each small block is positioned at either the back right or back left; two blocks are in the back left while one is in the back right."} +{"scene_index": 35, "scene": "The two small blocks on the back left are positioned together, while the third small block is placed on the back right."} +{"scene_index": 36, "scene": "Three small blocks are positioned at the back of a structure: two on the left side and one on the right side."} +{"scene_index": 37, "scene": "The small blocks are positioned at three locations: back left, back middle, and back right."} +{"scene_index": 38, "scene": "The small blocks are positioned as follows: two are located at the back left, and one is at the back right."} +{"scene_index": 39, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 40, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 41, "scene": "The small blocks are positioned at the back, with two blocks specifically located at the back left and back right positions."} +{"scene_index": 42, "scene": "Two small blocks are positioned at the back left, while one small block is located at the back right."} +{"scene_index": 43, "scene": "The two small blocks are both located at the back, with one positioned on the left and the other on the right."} +{"scene_index": 44, "scene": "Three small blocks are positioned at the back left, with two located there and one also placed at the back right."} +{"scene_index": 45, "scene": "There are three small blocks positioned at the back right, back left, and back left."} +{"scene_index": 46, "scene": "The small blocks are positioned at the back right and twice on the back left, with two blocks placed in the same location."} +{"scene_index": 47, "scene": "Two small blocks are positioned at the back left, while one small block is located at the back right."} +{"scene_index": 48, "scene": "Two small blocks are positioned at the back left, while one small block is located at the back right."} +{"scene_index": 49, "scene": "The small blocks are positioned as follows: two are located at the back left, and one is at the back right."} +{"scene_index": 50, "scene": "The two small blocks are positioned at the back, one on the left and one on the right, while the third small block is also placed at the back left."} +{"scene_index": 51, "scene": "Each small block is positioned at the back left, with two blocks in that same location and one additional small block at the back right."} +{"scene_index": 52, "scene": "The three small blocks are positioned at the back, with two on the left side and one on the right side."} +{"scene_index": 53, "scene": "Three small blocks are positioned at the back left, with two located there and one also placed at the back right."} +{"scene_index": 54, "scene": "Three small blocks are positioned at the back of a structure, two on the left side and one on the right."} +{"scene_index": 55, "scene": "Two small blocks are positioned at the back left, while one small block is located at the back right."} +{"scene_index": 56, "scene": "The small blocks are positioned at the back left and back right."} +{"scene_index": 57, "scene": "The two small blocks are both located at the back, with one positioned on the left and the other on the right."} +{"scene_index": 58, "scene": "The small blocks are positioned at back left, back right, and back."} +{"scene_index": 59, "scene": "Each small block is positioned at either the back right or back left; two blocks are in the back left while one is in the back right."} +{"scene_index": 60, "scene": "Two small blocks are positioned at the back left, while one small block is located at the back right."} +{"scene_index": 61, "scene": "The three small blocks are positioned at the back, with two specifically located in the back-left area."} +{"scene_index": 62, "scene": "The small blocks are positioned at the back left, back right, and another is also placed at the back left."} +{"scene_index": 63, "scene": "Three small blocks are positioned at the back of a structure: two on the left side and one on the right side."} +{"scene_index": 64, "scene": "The small blocks are positioned at the back left, back right, and another is also placed at the back left."} +{"scene_index": 65, "scene": "The small blocks are positioned at back right, back left, and another back left."} +{"scene_index": 66, "scene": "Three small blocks are positioned at the back left, with two located there and one also placed at the back right."} +{"scene_index": 67, "scene": "There are three small blocks positioned at the back left and back right sides, with two of them specifically located at the back left."} +{"scene_index": 68, "scene": 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