diff --git a/Split_aloha_wipe_the_table/.gitattributes b/Split_aloha_wipe_the_table/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/Split_aloha_wipe_the_table/.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/Split_aloha_wipe_the_table/README.md b/Split_aloha_wipe_the_table/README.md new file mode 100644 index 0000000000000000000000000000000000000000..42fa05a65442af2fb4bf538aecffca80a29e369b --- /dev/null +++ b/Split_aloha_wipe_the_table/README.md @@ -0,0 +1,327 @@ +--- +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: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# Split_aloha_wipe_the_table + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `agilex_cobot_decoupled_magic` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `kitchen` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` +- `wipe` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 302 | +| **Total Frames** | 166266 | +| **Total Tasks** | 3 | +| **Total Videos** | 906 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 1.3GB | + + +## 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 +the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position. +the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position. +the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Stand the paper cup upright** +2. **Wipe the stains off the table with a rag** +3. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:301 + + +## 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_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": "agilex_cobot_decoupled_magic", "total_episodes": 302, "total_frames": 166266, "total_tasks": 3, "total_videos": 906, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:301"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [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.state": {"dtype": "float32", "shape": [26], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_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_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [26], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_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_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_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]}, "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): + +``` +Split_aloha_wipe_the_table_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_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/Split_aloha_wipe_the_table/annotations/eef_acc_mag_annotation.jsonl b/Split_aloha_wipe_the_table/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/Split_aloha_wipe_the_table/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/Split_aloha_wipe_the_table/annotations/eef_direction_annotation.jsonl b/Split_aloha_wipe_the_table/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/Split_aloha_wipe_the_table/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/Split_aloha_wipe_the_table/annotations/eef_velocity_annotation.jsonl b/Split_aloha_wipe_the_table/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/Split_aloha_wipe_the_table/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/Split_aloha_wipe_the_table/annotations/gripper_activity_annotation.jsonl b/Split_aloha_wipe_the_table/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/Split_aloha_wipe_the_table/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/Split_aloha_wipe_the_table/annotations/gripper_mode_annotation.jsonl b/Split_aloha_wipe_the_table/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/Split_aloha_wipe_the_table/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/Split_aloha_wipe_the_table/annotations/scene_annotations.jsonl b/Split_aloha_wipe_the_table/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b8118dc888239b66e555c5ea455124ec129f38e --- /dev/null +++ b/Split_aloha_wipe_the_table/annotations/scene_annotations.jsonl @@ -0,0 +1,303 @@ +{"scene_index": 0, "scene": "The cup is positioned at front left, the blue rag and purple rag are located at front right, and the coffee stain and tea are in the center."} +{"scene_index": 1, "scene": "The blue rag is at the front right, the cup is in front, and there s a coffee or tea stain centered between them."} +{"scene_index": 2, "scene": "Table is positioned at center coffee stain is positioned at center blue rag purple is positioned at right tea stain is positioned at center cup is positioned at front blue rag is positioned at right."} +{"scene_index": 3, "scene": "The table is at the center with a coffee and tea stain in the middle; the blue rag is on the right side; the cup is placed at the front."} +{"scene_index": 4, "scene": "The coffee stain and tea stain are both at the center, the blue and purple rags are in the front right, the cup is in the front left, and the table is at the center."} +{"scene_index": 5, "scene": "Blue rag and purple rag are on the right side, the cup is in the front-left area, coffee stain and tea stain are at the center, and the table is also at the center."} +{"scene_index": 6, "scene": "The coffee stain is at the center. The tea stain is also at the center. The table is in the center too. Blue rag and purple rag are on the right side. There's a cup in front-left position."} +{"scene_index": 7, "scene": "The blue and purple rags are at the front right, the cup is in front, the table is centered, and the coffee stain is also in the center."} +{"scene_index": 8, "scene": "The coffee stain is at the center, the tea stain is also at the center, and the table is centered as well. The blue and purple rags are positioned to the right, while the cup is located in the front-left area."} +{"scene_index": 9, "scene": "The coffee stain is at the center, the tea stain is also at the center but likely overlapping or nearby, the blue rag is on the right side, the table is in the center supporting all objects, and the cup is positioned in the front-left area."} +{"scene_index": 10, "scene": "The coffee stain is positioned center, the blue rag is positioned right, the table is positioned center, the tea stain is positioned center, and the cup is positioned front left."} +{"scene_index": 11, "scene": "The blue rag is at front right, the purple rag is also at front right but not specified in relation to others. The coffee stain is centered on the table. The cup is at front left. Tea is at center but its exact position relative to other objects isn t detailed."} +{"scene_index": 12, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the blue rag is on the right, and the cup is in the front-left position."} +{"scene_index": 13, "scene": "The blue rag and purple rag are at front right; the cup is in front; coffee stain and tea stain are at center on the table."} +{"scene_index": 14, "scene": "Coffee Stain is at the center. The Cup is at front-left. The Blue Rag and Purple Rag are at front-right. The Table is at center. The Tea is at center."} +{"scene_index": 15, "scene": "The table is in the center, with a coffee stain also at the center. On the right side, there are blue and purple rags, while tea and a cup are positioned towards the front."} +{"scene_index": 16, "scene": "The coffee stain is at the center, the table is also centered, tea is in the center, blue and purple rags are on the right, and the cup is positioned at the front."} +{"scene_index": 17, "scene": "The blue and purple rags are positioned at front right on the table. The cup is placed at front left, with coffee and tea stains located to the left of it on the table."} +{"scene_index": 18, "scene": "The blue rag is at the front right, the purple rag is also at the front right but positioned slightly behind or to the side of the blue rag, the cup is in front, and the table is centered."} +{"scene_index": 19, "scene": "The table is at the center, with a cup in the front-left corner. On the right side, there are blue and purple rags, and in the center, there are coffee and tea stains."} +{"scene_index": 20, "scene": "The coffee stain is at the center, the table is also centered, the blue rag is on the right, the tea stain is in the center, the cup is at the front-left, and another stain is in the center."} +{"scene_index": 21, "scene": "The cup is at front left, with blue and purple rags on its right side; a coffee and tea stained area is in the center, along with the table."} +{"scene_index": 22, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue rag is on the right, the table is at the center, and the cup is in the front-left position."} +{"scene_index": 23, "scene": "The cup is positioned in front with a coffee stain and tea stain at the center of the table. To its right are a blue rag and a purple rag."} +{"scene_index": 24, "scene": "A blue rag and a purple rag are positioned at the front right, while a coffee stain is located at the center. Additionally, tea and a cup are both placed at the front."} +{"scene_index": 25, "scene": "Table: Center and Coffee Stain: Center and Blue Rag and Purple Rag: Right and Coffee Stain and Tea Stain: Center and Cup: Front Left."} +{"scene_index": 26, "scene": "A blue and purple rag is in the front right, a cup is in the front left, a coffee and tea stain is in the center, and a table is also in the center."} +{"scene_index": 27, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag is on the right, and the cup is in front."} +{"scene_index": 28, "scene": "Blue rag is at front right, purple rag is at right, cup is at front, coffee stain and tea stain are both at center, table is at center."} +{"scene_index": 29, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue and purple rags are on the right, the cup is in the front-left position, and the table is at the center."} +{"scene_index": 30, "scene": "Coffee stain, tea stain, and table are located at the center. Blue rag and purple rag are both on the right side, while the cup is positioned in the front-left area."} +{"scene_index": 31, "scene": "Coffee stain is at the center, table is at the center, tea is at the center; blue rag and purple rag are on the right side, and cup is in the front-left position."} +{"scene_index": 32, "scene": "The blue rag and purple rag are located at the front right, the cup is at the front left, while the coffee stain and tea stain are in the center along with the table."} +{"scene_index": 33, "scene": "Coffee Stain and Tea Stain are both in the center, the table is also there, Blue Rag and Purple Rag are on the right side, Blue is specifically located on the right, the cup is placed in front left, and Stain remains in the center."} +{"scene_index": 34, "scene": "The table is at the center, with a coffee stain and tea stain both in the center. A blue rag is placed in the front right, while a cup is positioned in the front left."} +{"scene_index": 35, "scene": "The coffee stain is at the center of the table, the tea stain is also at the center, the blue and purple rags are on the right side, the cup is in the front-left area, the table holds all objects, and there s a general stain (possibly from either coffee or tea) at the center."} +{"scene_index": 36, "scene": "The coffee stain is at the center of the table, which also has a tea stain in the center. The blue rag is on the right side of the table, and the cup is positioned in the front-left area."} +{"scene_index": 37, "scene": "The table is at the center, the cup is in the front-left, coffee and tea stains are on the table s center, and blue and purple rags are on the right."} +{"scene_index": 38, "scene": "The cup is positioned at front left on the table. The coffee stain is in the center of the table. The blue and purple rags are together at front right on the table. The tea stain is also in the center of the table."} +{"scene_index": 39, "scene": "The Blue Rag is on the front right, the Purple Rag is on the front right, the Coffee Stain is at the center, the Tea Stain is at the center, the Cup is on the front left, and the Table is at the center."} +{"scene_index": 40, "scene": "The table is at the center with a coffee stain and a tea stain in the center. Tea is also in the center, a cup is at the front, and a blue rag is on the right."} +{"scene_index": 41, "scene": "The table is at the center, with a coffee and tea stain on its left side, blue and purple rags on its right side, and a cup positioned in the front-left corner."} +{"scene_index": 42, "scene": "The coffee stain is at the center, the table is also centered, the tea stain is in the center, the blue rag is on the right, and the cup is positioned in the front-left corner."} +{"scene_index": 43, "scene": "The cup is positioned at the front left, the coffee stain is in the center, and the blue rag and purple rag are together at the front right."} +{"scene_index": 44, "scene": "The table is at the center. The coffee stain is also at the center. The blue rag and purple rag are on the right side. The cup is positioned at the front left. The tea is in the center."} +{"scene_index": 45, "scene": "The coffee stain is at the center. The tea stain is also at the center. The table is at the center as well. The blue and purple rags are positioned on the right side. The cup is located in front."} +{"scene_index": 46, "scene": "The table is at the center, with a coffee and tea stain also in the center. To the right are a blue rag and a purple rag, while the cup is positioned at the front-left."} +{"scene_index": 47, "scene": "The coffee and tea stains are at the center, the table is also centered, the cup is in front, and the blue and purple rags are on the right."} +{"scene_index": 48, "scene": "The table is centered, with coffee and a coffee stain positioned centrally. The cup is in the front-left area, while blue and purple rags are on the right side."} +{"scene_index": 49, "scene": "The coffee stain is located at the center, as is the tea stain. The table is also centered. To the right are the blue and purple rags, and the cup is positioned in front."} +{"scene_index": 50, "scene": "The blue rag is on the right, the table is in the center with a coffee stain and a tea stain both at its center, and the cup is positioned at the front."} +{"scene_index": 51, "scene": "The table is at the center, with a blue rag on its right side, another cloth (blue and purple) also on the right, and a cup positioned in the front-left corner."} +{"scene_index": 52, "scene": "On a table located at the center, there is a coffee stain in the middle and a cup placed in front; to the right of the table, there is a blue rag."} +{"scene_index": 53, "scene": "The table is at the center, the cup is in the front left with a coffee stain also at the center, and two rags (one blue and one purple) are on the right."} +{"scene_index": 54, "scene": "The table is at the center, with a coffee and tea stain also in the center. Blue and purple rags are on the right side, while a cup is positioned in the front-left area."} +{"scene_index": 55, "scene": "The table is centered; the cup is at the front-left; blue and purple rags are on the right."} +{"scene_index": 56, "scene": "Coffee Stain 1 is centered Table is centered Tea Stain is centered Blue Rag and Purple Rag are aligned to the right Cup is positioned at front left"} +{"scene_index": 57, "scene": "There is a coffee stain at the center. There is a table at the center. There is a blue rag on the right. There is a cup in front. There is tea at the center."} +{"scene_index": 58, "scene": "The coffee stain is on the right, the table is in the center, the tea stain and blue rag are both on the right, and the cup is at the front."} +{"scene_index": 59, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is centered as well. The blue and purple rags are positioned on the right side, while the cup is located at the front-left area."} +{"scene_index": 60, "scene": "The coffee stain is centered, with the cup placed in front on the left, while the blue and purple rags are located at the front right."} +{"scene_index": 61, "scene": "The blue rag is at front right, the purple rag is also at front right. The cup is in front of the table. The coffee stain and tea stain are both on the table, which is centered."} +{"scene_index": 62, "scene": "The coffee stain is at the center, the tea stain is also at the center, and the table is in the center. The blue and purple rags are on the right, and the cup is in front."} +{"scene_index": 63, "scene": "The table is at the center, with a blue and purple rag on its right side, and there s a coffee stain in the center."} +{"scene_index": 64, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue and purple rags are on the right, the table is in the center, and the cup is at the front."} +{"scene_index": 65, "scene": "The cup is at the front, with coffee and tea stains also at the front. Blue and purple rags are on the front right, while the table is in the center."} +{"scene_index": 66, "scene": "The coffee stain and tea stain are both at the center, the table is also at the center, the blue-purple rag is on the right, and the cup is in front."} +{"scene_index": 67, "scene": "The table is at the center, with a coffee cup at front left and a blue rag/purple item at front right. In the center, there are a coffee pot, a tea stain, and a coffee stain."} +{"scene_index": 68, "scene": "The table is at the center, with a coffee stain also in the center. To the right is a blue rag, and there s a cup positioned at the front. Another coffee stain is also located at the center."} +{"scene_index": 69, "scene": "The table is at the center, with a coffee stain also in the center. To its right are blue and purple rags, while a tea stain is also in the center. The cup is positioned at the front."} +{"scene_index": 70, "scene": "The table is at the center, with a coffee and tea stain also in the center. A cup is positioned in the front-left area, while a blue rag and a purple rag are located on the right side."} +{"scene_index": 71, "scene": "The blue and purple rags are at the front-right of the table. The cup is in front, located on the table as well. There s a coffee or tea stain in the center of the table, near the cup."} +{"scene_index": 72, "scene": "The table is at the center, with a blue rag on its right side. A cup is positioned in the front-left corner of the table. In the center, there are both coffee and tea stains present."} +{"scene_index": 73, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue rag is on the right, the table is at the center, the cup is in front, and another rag is on the right."} +{"scene_index": 74, "scene": "The coffee stain is at the center, the tea stain is also at the center, and the table is positioned at the center. The blue and purple rags are on the right side, while the cup is located in the front position."} +{"scene_index": 75, "scene": "The table is at the center, with a coffee stain also in the center. The blue rag is on the right side, while the cup is positioned in the front-left area. Both the coffee and tea stains are located in the center of the table."} +{"scene_index": 76, "scene": "The blue rag is on the right, the cup is in front-left, and there are coffee and tea stains in the center."} +{"scene_index": 77, "scene": "The table is at the center, with a coffee stain also in the center. To its right are blue and purple rags, while tea is centered as well. The cup is positioned at the front-left."} +{"scene_index": 78, "scene": "The table is at the center. The coffee and tea stains are also in the center. The blue and purple rags are on the right side. The cup is positioned in the front-left corner."} +{"scene_index": 79, "scene": "The blue rag is at front right, the purple rag is also at front right but positioned separately from the blue one. The cup is in front, and the table is centered. There are coffee and tea stains on the table, both located at its center."} +{"scene_index": 80, "scene": "Cup is at front left, coffee stain and tea stain are in the center, blue the center."} +{"scene_index": 81, "scene": "The table is at the center, with a cup in the front-left, blue and purple rags on the right, and multiple coffee and tea stains centered."} +{"scene_index": 82, "scene": "The coffee and tea stains are both at the center, positioned on the table which is also at the center. The blue rags are on the right side, and the cup is in the front-left area."} +{"scene_index": 83, "scene": "The coffee stain is at the center, with the table also centered; blue and purple rags are on the right, a cup is in front, and tea is centered."} +{"scene_index": 84, "scene": "The table is located at the center, the blue rag and purple rag are positioned on the right side, there are coffee stains and tea stains in the center, and the cup is placed at the front left position."} +{"scene_index": 85, "scene": "The table is at the center with a coffee and tea stain also in the center. A blue rag is positioned at the front right, while a cup is placed at the front left."} +{"scene_index": 86, "scene": "The table is at the center. The blue and purple rags are on the right. There s a coffee stain in the center, another coffee stain in the center, and a tea stain also in the center. The cup is positioned at the front left."} +{"scene_index": 87, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag is on the right, and the cup is in front."} +{"scene_index": 88, "scene": "The table is at the center with a coffee and tea stain also centered. Blue and purple rags are on the right, and there s a cup in the front-left corner."} +{"scene_index": 89, "scene": "The table is at the center. The coffee stain and tea are also at the center. The cup is in the front-left position. The blue rag and purple rag are on the right."} +{"scene_index": 90, "scene": "The table is centered with a coffee and tea stain also in the center. To the right are a blue and purple rag, and in the front-left corner is a cup."} +{"scene_index": 91, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the blue rag is in the front right, and the cup is in the front left."} +{"scene_index": 92, "scene": "The blue rag is at front right, the cup is in front, with coffee and tea stains also in front, and the table is centered."} +{"scene_index": 93, "scene": "The blue rag and purple rag are on the right. The coffee stain, cup, and tea stain are all in front. The table is at the center."} +{"scene_index": 94, "scene": "The coffee stain and tea stain are both at the center, with the table also centered; the blue rag is on the right, and the cup is in front."} +{"scene_index": 95, "scene": "Coffee stain is at the center, cup is in front left, tea stain is at the center, table is at the center, blue rag and purple rag are on the right."} +{"scene_index": 96, "scene": "The cup is positioned at front left, while the blue rag and purple rag are both located at front right. The table is centered in the setup."} +{"scene_index": 97, "scene": "The blue and purple rags are at the front-right of the table; a cup is in front on the table; there s a coffee or tea stain in the center of the table."} +{"scene_index": 98, "scene": "The blue rag is on the right side, along with the purple rag; the coffee stain and tea stain are in front of it, and the cup is located at the front-left position."} +{"scene_index": 99, "scene": "The table is at the center, with a cup in the front left, blue and purple rags on the right, and coffee and tea stains both in the center."} +{"scene_index": 100, "scene": "A coffee stain is at the center, a cup is in the front left, blue and purple rags are on the right, and a table is in the center."} +{"scene_index": 101, "scene": "The table is at the center, with a coffee stain and a tea stain also in the center. Tea is in the center as well. To the right are a blue rag and a purple rag. The cup is positioned in the front-left area."} +{"scene_index": 102, "scene": "The coffee stain is in the center, the tea stain is also in the center, the table is in the center, the blue and purple rags are on the right, and the cup is at the front."} +{"scene_index": 103, "scene": "The blue rag is on the right side, while the purple rag is also on the right. Both coffee and tea stains are in the center. The cup is positioned at the front-left."} +{"scene_index": 104, "scene": "The coffee stain is at the center, the blue and purple rags are on the right, the tea stain is also at the center, the cup is in the front-left, and the table is at the center."} +{"scene_index": 105, "scene": "The table is at the center, with a coffee stain in the center, a tea stain also in the center, a blue and purple rag on the right side, and a cup placed on the left side."} +{"scene_index": 106, "scene": "The table is at the center, with coffee and tea stains also in the center. To the right are a blue rag and a purple rag, while the cup is positioned in the front-left area."} +{"scene_index": 107, "scene": "The table is centered, with a blue rag and a purple rag on its right side, and both a coffee stain and a tea stain in the center. A cup is placed at the front left of the table."} +{"scene_index": 108, "scene": "The blue and purple rags are positioned in the front-right corner, the cup is placed at the front, the table is centered, and both coffee and tea stains are located in the center."} +{"scene_index": 109, "scene": "The table is at the center, with a coffee and tea stain also in the center. A cup is positioned in front, and blue and purple rags are on the right side."} +{"scene_index": 110, "scene": "The table is at center, coffee and tea stains are also present there, a cup is located in front-left, and blue and purple rags can be found in front-right."} +{"scene_index": 111, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is centered as well, while the blue and purple rags are on the right side. The cup is placed in the front-left area."} +{"scene_index": 112, "scene": "The cup is at the front, on the table which is in the center. The blue and purple rags are in the front right, while the coffee and tea stains are also centered."} +{"scene_index": 113, "scene": "A coffee stain is at the center, with a tea stain nearby also in the center. A table is centered beneath both stains. Tea is placed centrally on the table. A blue rag is positioned to the right of the scene, and a cup is located at the front."} +{"scene_index": 114, "scene": "The cup is in front, with blue and purple rags on the right; coffee and tea stains are at the center, alongside the table."} +{"scene_index": 115, "scene": "The table is at the center, with a blue rag in the center, a cup on the front left, and both a blue rag and a purple rag on the front right."} +{"scene_index": 116, "scene": "The table is at the center, with a coffee stain and a tea stain also in the center. Tea is near the center, blue and purple rags are on the right, and the cup is in front."} +{"scene_index": 117, "scene": "The table is at the center. There are both a coffee stain and a tea stain in the center. A blue rag and a purple rag are on the right side. There is a cup located at the front-left position."} +{"scene_index": 118, "scene": "The table is at the center, with coffee in the center and a cup on the front left. There s a tea stain and a coffee stain both in the center. On the right are blue and purple rags."} +{"scene_index": 119, "scene": "The blue rag is in the front-right position, the purple rag is also in the front-right position alongside it, the cup is at the front, the tea is in the center, and the table supports all these objects at the center."} +{"scene_index": 120, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the cup is in front, the blue rag is on the right, and the purple object is also on the right."} +{"scene_index": 121, "scene": "The table is at the center with a coffee stain in its center; blue and purple rags are on the right side; a cup is positioned at the front-left."} +{"scene_index": 122, "scene": "The blue rag is at the front right, the cup is in front, the coffee stain and tea stain are both centered on the table."} +{"scene_index": 123, "scene": "The coffee stain and tea stain are both at the center, positioned on the table which is also at the center. The blue and purple rags are on the right side, while the cup is located in the front-left position."} +{"scene_index": 124, "scene": "The table is in the center, Blue rag and purple rag are on the right, Cup is in the front-left, Coffee stains are all in the center."} +{"scene_index": 125, "scene": "The coffee stain is at the center. The table is at the center. The tea stain is at the center. The blue rag and purple rag are on the right. The cup is in the front left."} +{"scene_index": 126, "scene": "The cup is in front; a coffee stain and tea are both at the center. Blue rag and purple rag are on the right. The table holds all objects centrally."} +{"scene_index": 127, "scene": "The table is at the center, with a coffee stain and tea stain also in the center. To the right are a blue rag and a purple rag. In the center, there s tea, and the cup is positioned at the front."} +{"scene_index": 128, "scene": "The table is at the center, with a coffee stain in the center. On the right side are a blue rag and a purple rag. A cup is positioned in front of the table, and tea is also at the center."} +{"scene_index": 129, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the blue rag is on the right, the cup is in the front-left, and another coffee stain is at the center."} +{"scene_index": 130, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the blue and purple rags are on the right, and the cup is in front."} +{"scene_index": 131, "scene": "The coffee stain is at the center, the table is also at the center, the blue and purple rags are on the right, the tea stain is at the center, and the cup is in the front-left position."} +{"scene_index": 132, "scene": "The blue and purple rags are at the front right, the cup is in front, and both coffee and tea stains are centered."} +{"scene_index": 133, "scene": "The coffee stain is at the center, with the table also centered. The tea stain shares the same central position as the coffee stain. To the right of the scene is a blue rag, and a cup is placed in front."} +{"scene_index": 134, "scene": "The table is at the center, with a coffee stain and tea stain both located in the center. A cup is positioned in front, while two blue rags are placed on the right side."} +{"scene_index": 135, "scene": "Blue Rag and Purple Rag are located at the front right of the scene, The Cup is positioned in front, likely near or on the Table which is centered, and both Coffee Stain and Tea Stain are situated in the center, possibly on the Table."} +{"scene_index": 136, "scene": "The table is at the center, with a coffee stain and a tea stain both in the center. To the right are blue and purple rags, and the cup is positioned in front."} +{"scene_index": 137, "scene": "The Coffee Stain is at Center, Tea Stain is at Center, Table is at Center, Blue Rag Purple is at Right, Cup is at Front, and Blue Rag is at Right."} +{"scene_index": 138, "scene": "The blue rag is at front right, the cup is in front, the coffee stain and tea stain are both centered on the table."} +{"scene_index": 139, "scene": "The cup is at front left, next to the blue rag at front right; there are coffee and tea stains in the center with the table also in the center."} +{"scene_index": 140, "scene": "The blue rag and purple rag are located at the front right, with a cup in front, while the coffee stain and tea stain are centered on the table."} +{"scene_index": 141, "scene": "The blue rag is at the front right, the purple rag is also at the front right but not mentioned in the initial query. The cup is in front, the coffee and tea stains are centered, and the table is also centered."} +{"scene_index": 142, "scene": "The table is at the center, with a coffee and tea stain also in the center. A cup is positioned in front of the table. On the right side, there s a blue rag along with a purple object."} +{"scene_index": 143, "scene": "The coffee stain is at the center, the cup is in front, the tea stain is also at the center, the blue and purple rags are at front right, and the table is at the center."} +{"scene_index": 144, "scene": "Coffee Stain and Tea Stain are at the center, the cup is in front, blue rag and purple rag are on the right."} +{"scene_index": 145, "scene": "The coffee stain is located at the center, sharing the same central position as the tea stain and table. The blue rag is positioned on the right side, while the cup is placed on the left side."} +{"scene_index": 146, "scene": "The table is at the center, with coffee and tea stains also in the center. The cup is positioned in the front-left, while the blue and purple rags are placed in the front-right."} +{"scene_index": 147, "scene": "The table is centered, with a cup placed in the front-left. A coffee stain is at the center, and tea is also at the center. Both blue and purple rags are positioned on the right side."} +{"scene_index": 148, "scene": "The table is at the center with a coffee stain and a tea stain also in the center. To the right are blue and purple rags, and a cup is positioned at the front."} +{"scene_index": 149, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue and purple rags are on the right, the cup is in front."} +{"scene_index": 150, "scene": "The table is at the center, with coffee and tea stains also in the center. Blue and purple rags are on the right side, and a cup is positioned at the front-left."} +{"scene_index": 151, "scene": "The table is at the center, with a coffee and tea stain also in the center. The cup is positioned in the front-left area, while the blue and purple rags are placed in the front-right section."} +{"scene_index": 152, "scene": "Coffee Stain and Tea Stain are at the center The Table is also at the center Blue Rag and Purple Rag are on the right The Cup is in the front-left position"} +{"scene_index": 153, "scene": "The Coffee Stain is centered, The Table is centered, The Tea Stain is centered, The Blue Rag Purple Rag is positioned to the right, and The Cup is placed in front."} +{"scene_index": 154, "scene": "The coffee stain is at the center, overlapping with the tea stain, which is also at the center. The table is at the center and likely supports all objects. To the right are a blue rag and a purple rag. In front is a cup."} +{"scene_index": 155, "scene": "The table is in the center, with a coffee stain and tea stain also at the center. To the right are a blue rag and a purple rag. In the center, there s tea, and a cup is positioned at the front."} +{"scene_index": 156, "scene": "The coffee stain is at the center, the table is also at the center, blue and purple rags are in the front right, the tea stain is at the center, the cup is on the left, and there s another coffee stain at the center."} +{"scene_index": 157, "scene": "The blue rag is at the front right, the cup is in front, the coffee stain (or tea) is in the center."} +{"scene_index": 158, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the cup is in front, and the blue and purple rags are on the right."} +{"scene_index": 159, "scene": "The table is at the center. The blue rag is in the front-right. Coffee and tea stains are both in the center. Tea is in the center. The cup is in the front-left."} +{"scene_index": 160, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue and purple rags are on the right, and the cup is in the front-left position."} +{"scene_index": 161, "scene": "Coffee Stain is at the center, Tea Stain is also at the center, Blue Rag and Purple Rag are in the front-right, Cup is placed at the front-left, Table is located at the center."} +{"scene_index": 162, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue rag and purple rag are positioned in front-right, while the cup is located in the front-left."} +{"scene_index": 163, "scene": "The cup is located at front left, with coffee and tea stains in the center, and a blue rag and purple rag are placed at front right."} +{"scene_index": 164, "scene": "The blue rag is at front right, the purple rag is also nearby, the coffee stain is in the center, the tea is in the center with the cup placed at front left."} +{"scene_index": 165, "scene": "The table is at the center. The blue and purple rags are on the right. There are two coffee stains in the center. A cup is located at the front-left. There are two teacups in the center."} +{"scene_index": 166, "scene": "The blue rag is at the front right, the purple rag is also at the front right, the cup is at the front left, and the coffee stain is in the center."} +{"scene_index": 167, "scene": "The table is at the center, with a coffee stain and a tea stain also in the center. There s tea nearby, a blue rag and a purple rag on the right, and a cup positioned in front."} +{"scene_index": 168, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is centrally located, the blue rag is on the right side, the cup is positioned in the front-left area, and another stain is placed at the center."} +{"scene_index": 169, "scene": "The blue rag is in the front right, the cup is in the front left, and the table is at the center with two coffee stains and a tea."} +{"scene_index": 170, "scene": "The table is at the center, with coffee and tea stains also in the center. The cup is placed in the front-left area, while the blue and purple rags are located on the right side."} +{"scene_index": 171, "scene": "Coffee Stain is located in the center Tea Stain is also positioned in the center The Blue Rag is on the right side The Table is at the center The Cup is placed at the front"} +{"scene_index": 172, "scene": "The blue rag is in the front right, the purple rag is also in the front right, the coffee stain and a separate tea stain are both at the center, the cup is at the front left, and there s another unspecified stain at the center."} +{"scene_index": 173, "scene": "Coffee Stain is at the center. Tea Stain is at the center. Table is at the center. Cup is in front. Blue Rag and Purple Rag are on the right. Blue is on the right."} +{"scene_index": 174, "scene": "The table is centered Coffee and tea stains are also in the center of the table A blue rag and a purple rag are located at the front right side of the table and a cup is placed at the front left side of the table."} +{"scene_index": 175, "scene": "The table is at the center, with a blue rag on its right side. In front of the table, there s a cup that has both coffee and tea stains in the center, and the tea itself is also positioned in the center."} +{"scene_index": 176, "scene": "The coffee stain is at the center, the table is also at the center, the blue rag with purple is on the right, the tea stain is at the center, and the cup is in front."} +{"scene_index": 177, "scene": "The coffee and tea stains are both in the center of the table, with the blue rag on the right and the cup positioned at the front-left."} +{"scene_index": 178, "scene": "The table is at the center, with coffee and tea stains also in the center. The cup is positioned towards the front, while a blue rag and a purple rag are located on the right side."} +{"scene_index": 179, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue and purple rags are on the right, the cup is in the front-left, and the table is at the center."} +{"scene_index": 180, "scene": "The table is in the center with a coffee stain and a tea stain. To the right of the table, there are two rags: one blue and one purple. The cup is at the front of the table."} +{"scene_index": 181, "scene": "The cup is positioned at the front, two rags (one blue and one purple) are located in the front right area, and the table is centrally placed."} +{"scene_index": 182, "scene": "The table is at the center, with coffee and tea stains also in the center. On the right side are blue and purple rags, and a cup is placed at the front."} +{"scene_index": 183, "scene": "The table is at the center, with a coffee and tea stain also in the center. A blue and purple rag is located at the front right, while a cup is placed at the front left."} +{"scene_index": 184, "scene": "The coffee stain is at the center, the tea stain is also at the center. The blue and purple rags are on the right, while the table is in the center with the cup placed in front of it."} +{"scene_index": 185, "scene": "Coffee Stain is at the center. Table is at the center and has a coffee stain. Tea Stain is at the center and has a tea stain. Blue Rag and Purple Rag are on the right side along with blue items. Cup is at the front."} +{"scene_index": 186, "scene": "The coffee stain and tea stain are both at the center, while the table is also centered. The blue rag and purple rag are on the right side. The cup is in the front position."} +{"scene_index": 187, "scene": "The coffee stain is in the center, with the tea stain also at the center. The table is also centered, while the blue and purple rags are on the right side. The cup is placed in the front-left area."} +{"scene_index": 188, "scene": "The table is at the center, with a cup in front. To the right are two rags (one blue and one purple). In the center, there are coffee stains and tea."} +{"scene_index": 189, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, the blue and purple rags are on the right, and the cup is in front."} +{"scene_index": 190, "scene": "The cup is positioned at front left, blue rag and purple rag are positioned at front right, table is positioned at center, coffee stain and tea stain are located on the table at center."} +{"scene_index": 191, "scene": "The cup is at front left, the blue and purple rags are at front right, the coffee and tea stains are in the center, and the table is also in the center."} +{"scene_index": 192, "scene": "The blue rag is at front right, the purple rag is also at front right but not specified, the cup is at front left, the coffee stain and tea are both at center."} +{"scene_index": 193, "scene": "The table is at the center, with a coffee stain also in the center. To the left is a cup, and to the right are blue and purple rags. There s tea in the center as well."} +{"scene_index": 194, "scene": "The blue rag is at the front right, the cup is in front, and both coffee stain and tea stain are centered."} +{"scene_index": 195, "scene": "The table is at the center, with a coffee stain and tea stain also in the center. The cup is positioned in the front-left area, while the blue rag and purple rag are located on the right side."} +{"scene_index": 196, "scene": "The coffee stain and tea stain are both at the center, with the table also at the center. The cup is in front, and the blue rag and purple rag are on the right side."} +{"scene_index": 197, "scene": "The blue rag is at front right, the cup is in front, the coffee stain and tea stain are both centered on the table."} +{"scene_index": 198, "scene": "The coffee stain is at the center, the table is also centered, the tea stain is centrally located, the blue and purple rags are on the right side, and the cup is placed in the front-left area."} +{"scene_index": 199, "scene": "The coffee stain is in the center, the tea stain is also in the center, the table is centrally located, the blue and purple rags are on the right side, and the cup is positioned at the front."} +{"scene_index": 200, "scene": "The table is at the center, with a coffee stain in the center and a tea stain also in the center. Blue and purple rags are positioned in the front right, while a cup is located in the front left."} +{"scene_index": 201, "scene": "The table is at the center, with a coffee and tea stain also in the center. The cup is positioned in front, while a blue rag and a purple rag are on the right side."} +{"scene_index": 202, "scene": "Coffee Stain is at Center, Tea Stain is at Center, Blue Rag & Purple Rag are at Front Right, Cup is at Front Left, and Table is at Center."} +{"scene_index": 203, "scene": "The table is at the center, with coffee and tea stains also in the center. The blue rag is on the right, and the cup is positioned at the front."} +{"scene_index": 204, "scene": "The table is at the center. The blue and purple rags are on the right. The coffee and tea stains are both in the center. The cup is at the front left."} +{"scene_index": 205, "scene": "The blue and purple rags are on the right side, a coffee-stained object is in the center along with the table, the cup is at the front-left."} +{"scene_index": 206, "scene": "The coffee and tea stains are both at the center, blue rag and purple rag are on the right, the cup is in front, and the table is at the center."} +{"scene_index": 207, "scene": "Coffee Stain is at the center, Table is at the center, Blue Rag is on the right, Cup is in the front-left, and Tea Stain is at the center."} +{"scene_index": 208, "scene": "The blue and purple rags are positioned at the front right corner, while the coffee stain is located in the center of the image."} +{"scene_index": 209, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is centered, the blue rag is on the right, the cup is in front, and there s another coffee stain at the center."} +{"scene_index": 210, "scene": "The coffee stain is at the center, the table is also at the center, the blue and purple rags are on the right, tea is at the center, and the cup is in the front-left."} +{"scene_index": 211, "scene": "The cup is in front; both coffee and tea stains are at the center along with the table. Blue and purple rags are on the right."} +{"scene_index": 212, "scene": "The blue rag is at the front right, the cup is in front, the coffee stain and tea stain are both centered on the table."} +{"scene_index": 213, "scene": "The table is at the center with a coffee and tea stain also in the center. Blue and purple rags are near the front-right, while a cup is placed at the front-left."} +{"scene_index": 214, "scene": "The blue rag is at front right, the purple rag is also at front right, the cup is at front left, and there are two coffee stains and a tea stain all centered."} +{"scene_index": 215, "scene": "The coffee stain is in the center, the table is also at the center, the cup is in the front-left position, and the blue and purple rags are on the right side."} +{"scene_index": 216, "scene": "The coffee stain is in the center, the table is also centered, the cup is at the front left, the blue and purple rags are on the right, tea is in the center, and another blue rag is also on the right."} +{"scene_index": 217, "scene": "The table is at the center, with a coffee and tea stain also in the center. To its right are a blue rag and a purple rag, while a cup is positioned in the front-left area. Tea is located at the center as well."} +{"scene_index": 218, "scene": "The blue rag is at the front right, the cup is at the front left, and the coffee stain and tea stain are in the center."} +{"scene_index": 219, "scene": "The coffee stain is at the center of the table, with the cup containing tea also in the center. The blue and purple rags are placed on the front right side, while there is no mention of a spoon s position or its relation to other objects."} +{"scene_index": 220, "scene": "The table is at the center, with a coffee stain in the center, and a tea stain also in the center. Blue and purple rags are on the right side, while a cup is located at the front-left position."} +{"scene_index": 221, "scene": "The coffee stain is at the center, the table is also at the center, the tea stain is at the center, both blue rag and purple rag are on the right side, the cup is in the front-left position."} +{"scene_index": 222, "scene": "The blue and purple rags are on the front right, the cup is on the front left, and the table is at the center."} +{"scene_index": 223, "scene": "The table is positioned at the center Coffee and tea stains are located at the center Blue and purple rags are placed on the right side The cup is situated in the front-left area"} +{"scene_index": 224, "scene": "The cup is located at front left, coffee stain is in the center of table, tea stain is also in the center of table, blue rag and purple rag are positioned at front right."} +{"scene_index": 225, "scene": "The coffee stain is at the center, with the table also centered. Tea and cup are both at the center, but the cup is slightly in front. The blue rag and purple rag are positioned on the right side. Step-by-step explanation: 1. Identify each object and its position. 2. Note any relative positions (e.g., cup being in front). 3. Combine all information into a concise sentence without adding extra details."} +{"scene_index": 226, "scene": "The coffee stain is at the center, the tea stain is also at the center, the blue and purple rags are on the right, the cup is in the front-left, and the table is at the center."} +{"scene_index": 227, "scene": "The table is at the center, with a cup in the front-left, blue and purple rags on the right, and coffee and tea stains in the center."} +{"scene_index": 228, "scene": "The cup is at front-left, with coffee and tea stains in the center on the table. Blue and purple rags are on the right side."} +{"scene_index": 229, "scene": "The table is centered. The coffee stain is at the center of the table. The tea stain is also at the center of the table. The blue and purple rag are on the right side of the table. The cup is placed on the left side of the table."} +{"scene_index": 230, "scene": "The cup is in front, with a coffee stain at the center of the table. To its front-right are a blue rag and a purple rag."} +{"scene_index": 231, "scene": "The coffee stain is on the right, the tea stain is also on the right, there is a blue rag on the right, and the table is in the center."} +{"scene_index": 232, "scene": "Cup is at front-left on table (center). Blue rag and purple rag are on table (center). Coffee stain and tea stain are on the table (center)."} +{"scene_index": 233, "scene": "The table is centered; the cup is at the front left; there is a coffee and tea stain in the center; blue and purple rags are on the right; another coffee stain is also in the center."} +{"scene_index": 234, "scene": "The table is at the center, with a coffee and tea stain both in the center. The blue and purple rag is on the right, and the cup is placed in the front-left area."} +{"scene_index": 235, "scene": "The table is at the center, with coffee and tea stains also in the center. Tea is centrally located, while the cup is in the front-left area, and blue and purple rags are placed in the front-right section."} +{"scene_index": 236, "scene": "The blue rag is positioned at the front-right corner of the table, while the purple rag shares the same front-right position. The cup is located in the front area, and the table is centered. Both the coffee stain and the tea stain are situated at the center of the table, indicating their positions relative to each other and the other objects on the surface."} +{"scene_index": 237, "scene": "Coffee Stain is at the front; Blue Rag and Purple Rag are at the front right; Cup is at the front left; Tea Stain is at the front; Table is at the center."} +{"scene_index": 238, "scene": "The blue rag and purple rag are at the front right, the cup is at the front left, the table is at the center, and both coffee stain and tea stain are on the table in the center."} +{"scene_index": 239, "scene": "Coffee Stain and Tea Stain are both at the center The Table is also at the center A Blue Rag is on the right side Another Blue Rag is in the front-right area The Cup is located in the front-left position"} +{"scene_index": 240, "scene": "Coffee Stain Tea Stain is at the center. The Table is also at the center. Tea is at the center as well. Blue Rag and Purple Rag are positioned to the right. The Cup is located at the front."} +{"scene_index": 241, "scene": "The blue rag is in the front-right position, while the purple rag shares the same location. A cup is placed at the front, accompanied by a coffee stain and a tea stain, both located at the front as well. The table holds all these items at its central position."} +{"scene_index": 242, "scene": "The cup is at front-left, blue and purple rags are at front-right, coffee and tea stains are in the center, and the table is also in the center."} +{"scene_index": 243, "scene": "The blue and purple rags are on the right side of the scene. A coffee stain is in the center along with a tea stain. The cup is positioned towards the front-left, while the table remains at the center."} +{"scene_index": 244, "scene": "The table is at the center, with a coffee stain and a tea stain also in the center. Blue and purple rags are placed in the front right, while a cup is positioned in the front left."} +{"scene_index": 245, "scene": "The table is centered; the cup is front-left; blue rag and purple rag are on the right; coffee stain and tea stain are in the center."} +{"scene_index": 246, "scene": "The coffee stain is at the center, related to the table also at the center. The cup is in front, associated with the blue and purple rags on the right."} +{"scene_index": 247, "scene": "The cup is in front, with a blue rag and a purple rag on the right; coffee and tea stains are at the center of the table."} +{"scene_index": 248, "scene": "The table is at the center with a coffee and tea stain also centered. Blue and purple rags are in the front-right section, with another coffee stain at the center."} +{"scene_index": 249, "scene": "The blue rag and purple rag are on the right side, the table is in the center with a coffee stain and tea also in the center, while the cup is at the front-left position."} +{"scene_index": 250, "scene": "The coffee and tea stains are both in the center, the table is also in the center, the blue and purple rags are on the right, the cup is at the front, and there s another blue rag on the right."} +{"scene_index": 251, "scene": "The cup is in the front, with the blue and purple rags positioned to its front right. The table is at the center, holding a stained teacup."} +{"scene_index": 252, "scene": "The coffee and tea stains are both at the center, the cup is in front, the blue and purple rags are at front right, and the table is at the center."} +{"scene_index": 253, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center as well, the blue and purple rags are positioned on the right side, and the cup is located in front."} +{"scene_index": 254, "scene": "The coffee stain and tea stain are both centered, the cup is at front left, while the blue rag and purple rag are positioned together at front right, and the table is in the center."} +{"scene_index": 255, "scene": "The table is at the center, with a coffee stain also in the center. On the right side, there are two rags: one blue and one purple. Another coffee stain is centrally located. The cup is positioned at the front left, alongside a tea stain that is also in the center."} +{"scene_index": 256, "scene": "A blue rag and a purple rag are positioned at the front right, a cup is located at the front left, while a coffee stain and a tea stain are situated in the center."} +{"scene_index": 257, "scene": "The blue rag is on the front right. The purple rag is on the front right with the blue rag. The cup is on the front left. The table is in the center. The tea is in the center."} +{"scene_index": 258, "scene": "The table is at the center with a coffee and tea stain also in the center. The cup is positioned in the front-left, while the blue and purple rags are on the right side."} +{"scene_index": 259, "scene": "The cup is at the front, the blue and purple rags are on the right, and the table is in the center."} +{"scene_index": 260, "scene": "The coffee stain is at the center, related to the table; the tea stain is also at the center, related to the table and tea; the blue rag and purple rag are on the right, related to each other; the cup is in the front-left, related to both the tea and the table."} +{"scene_index": 261, "scene": "the table is at the center the coffee stain is at the center the tea stain is at the center the cup is in front left and the blue rag and purple rag are in front right"} +{"scene_index": 262, "scene": "Coffee Stain is in the center, Table is at the center, Blue Rag Purple is in the front-right corner, Tea Stain is at the center, and Cup is on the front-left side."} +{"scene_index": 263, "scene": "The table is at the center, with a coffee stain also in the center, a tea stain in the center, and blue and purple rags placed together in the front right."} +{"scene_index": 264, "scene": "A coffee stain is at the center with a tea stain nearby also in the center. A table is located at the center as well. A blue rag is positioned on the right side, and a cup is placed at the front."} +{"scene_index": 265, "scene": "The coffee stain is in the center, the tea stain is also in the center, the table is at the center, the blue and purple rags are on the right, and the cup is in the center."} +{"scene_index": 266, "scene": "The coffee stain is in the center, with the table also at the center. The tea stain shares the same central position. On the right side are blue and purple rags, while the cup is positioned at the front."} +{"scene_index": 267, "scene": "The table is at the center, with a coffee stain in the center, a tea stain also in the center, blue and purple rags on the right, and a cup placed at the front-left."} +{"scene_index": 268, "scene": "The table is at the center with a coffee stain in the center, tea in the center, blue and purple rags on the right, and a cup at the front."} +{"scene_index": 269, "scene": "The blue and purple rags are at the front right, the cup is in front, and the table is centered."} +{"scene_index": 270, "scene": "The blue rag is at front right, the purple rag is also at front right; the coffee stain and tea stain are both in the center, with the cup placed at front left and the table located centrally."} +{"scene_index": 271, "scene": "The coffee stain is located at the center, the tea stain is also in the center, the table is centered as well, the blue rag is positioned to the right, and the cup is placed at the front."} +{"scene_index": 272, "scene": "The coffee stain is at the center, the blue and purple rag are in the front right, the tea stain is also at the center, the cup is in the front left, the table is at the center."} +{"scene_index": 273, "scene": "The table is at the center, with a coffee and tea stain in the middle. To the right are a blue and purple rag, and in front is a cup."} +{"scene_index": 274, "scene": "The table is at the center with a coffee stain also in the center. There s a tea stain and blue rag near the front right, and a cup positioned slightly forward from them."} +{"scene_index": 275, "scene": "The blue rag is in the front right position, the purple rag is also nearby, a coffee stain is centered on the table, a cup is at the front of the table, and tea is also in the center."} +{"scene_index": 276, "scene": "The coffee stain is at the center, the table is also at the center, the blue and purple rags are on the right, the tea stain is at the center, and the cup is in the front-left."} +{"scene_index": 277, "scene": "The coffee stain is at the center of the table."} +{"scene_index": 278, "scene": "The table is at the center, with a coffee stain also in the center. The blue and purple rags are on the right side, while the tea stain is also in the center. The cup is located at the front-left position."} +{"scene_index": 279, "scene": "The cup is in front, with blue and purple rags on the right; the table is at the center, accompanied by coffee and tea stains also in the center."} +{"scene_index": 280, "scene": "The coffee and tea stains are both at the center of the table, while the cup is at the front left. The blue and purple rags are located at the front right."} +{"scene_index": 281, "scene": "The blue rag is at front right, the purple rag is at front right with it, there s a coffee stain in the center, tea is in the center near the coffee stain, a cup is at front left, and the table holds everything in the center."} +{"scene_index": 282, "scene": "The coffee stain is at the center, the table is also centered, the tea stain is in the center as well, the blue rag is on the right, and the cup is positioned at the front."} +{"scene_index": 283, "scene": "The table is at the center, with a coffee stain in the center, a tea stain also in the center, blue and purple rags on the right, and a cup positioned at the front left."} +{"scene_index": 284, "scene": "The coffee stain is at the center of the table, the cup is in front of it, and the blue and purple rags are on the right."} +{"scene_index": 285, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag is on the right, and the cup is in the front-left."} +{"scene_index": 286, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag is on the right, and the cup is in front."} +{"scene_index": 287, "scene": "The table is at the center, the cup is in the front-left, and the blue rag and purple rag are on the right."} +{"scene_index": 288, "scene": "The table is at the center with a coffee and tea stain also in the center. The cup is positioned in front-left, while the blue and purple rags are on the right side."} +{"scene_index": 289, "scene": "The table is at the center, with a coffee stain and tea stain both located in the center. A cup is placed in front, while two blue rags are on the right side."} +{"scene_index": 290, "scene": "The table is at the center, with a coffee stain in the center and a tea stain also in the center. Blue and purple rags are placed in the front-right area."} +{"scene_index": 291, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag with a purple color is on the right side, and the cup is located in the front-left area."} +{"scene_index": 292, "scene": "The blue rag and purple rag are located at the front right, with a cup in front, while the coffee stain and tea stain are centered on the table."} +{"scene_index": 293, "scene": "The coffee stain is at the center, the table is also at the center, the blue rag is on the right, and the tea stain is also at the center."} +{"scene_index": 294, "scene": "The table is located in the center.The coffee stain and tea stain are both in the center of the table.The blue rag and purple rag are positioned on the right side of the table.The cup is placed at the front left corner of the table."} +{"scene_index": 295, "scene": "The coffee stain is in the center, the table is also centered, the tea stain shares the center with the table, the blue and purple rags are on the right side, and the cup is positioned at the front."} +{"scene_index": 296, "scene": "The coffee stain is in the center. The table is at the center. The cup is in front. The tea stain is also in the center. The blue rag and purple rag are on the right."} +{"scene_index": 297, "scene": "The table is at the center, with a coffee stain and a tea stain both located in the center. To the right are blue and purple rags, and there s a cup positioned in the front-left area."} +{"scene_index": 298, "scene": "The coffee stain is at the center, on the table (also center), with tea (center) nearby. The blue and purple rags are on the right, alongside a cup in the center."} +{"scene_index": 299, "scene": "The blue rag and purple rag are placed in the front-right corner of the table. The cup is positioned at the front of the table. The coffee stain and tea are located in the center of the table."} +{"scene_index": 300, "scene": "The table is centered; blue and purple rags are on the right; coffee and tea stains are in the center; a cup is at the front-left."} +{"scene_index": 301, "scene": "The coffee stain is at the center, the tea stain is also at the center, the table is at the center, the blue rag is on the right, and the cup is in front."} +{"scene_index": 302, "scene": "The coffee stain and tea stain are both at the center of the table. The blue rag is on the right side, and the cup is in the front-left corner."} diff --git a/Split_aloha_wipe_the_table/annotations/subtask_annotations.jsonl b/Split_aloha_wipe_the_table/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1c70738469ad3eb862a77899905bc50391322a2 --- /dev/null +++ b/Split_aloha_wipe_the_table/annotations/subtask_annotations.jsonl @@ -0,0 +1,3 @@ +{"subtask_index": 0, "subtask": "Stand the paper cup upright"} +{"subtask_index": 1, "subtask": "Wipe the stains off the table with a rag"} +{"subtask_index": 2, "subtask": "null"} diff --git a/Split_aloha_wipe_the_table/data/chunk-000/episode_000000.parquet b/Split_aloha_wipe_the_table/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b6db806311daf8a179e0025646d302797a1ef12b --- /dev/null +++ b/Split_aloha_wipe_the_table/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version 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gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 541} +{"episode_index": 43, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 470} +{"episode_index": 44, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 447} +{"episode_index": 45, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 471} +{"episode_index": 46, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 471} +{"episode_index": 47, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 476} +{"episode_index": 48, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 467} +{"episode_index": 49, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 505} +{"episode_index": 50, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 519} +{"episode_index": 51, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 545} +{"episode_index": 52, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 495} +{"episode_index": 53, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 501} +{"episode_index": 54, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 475} +{"episode_index": 55, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 520} +{"episode_index": 56, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 460} +{"episode_index": 57, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 467} +{"episode_index": 58, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 460} +{"episode_index": 59, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 476} +{"episode_index": 60, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 486} +{"episode_index": 61, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 500} +{"episode_index": 62, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 436} +{"episode_index": 63, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 534} +{"episode_index": 64, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 495} +{"episode_index": 65, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 532} +{"episode_index": 66, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 586} +{"episode_index": 67, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 644} +{"episode_index": 68, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 608} +{"episode_index": 69, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 522} +{"episode_index": 70, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 530} +{"episode_index": 71, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 558} +{"episode_index": 72, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 541} +{"episode_index": 73, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 541} +{"episode_index": 74, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 517} +{"episode_index": 75, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 525} +{"episode_index": 76, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 529} +{"episode_index": 77, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 570} +{"episode_index": 78, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 570} +{"episode_index": 79, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 520} +{"episode_index": 80, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 505} +{"episode_index": 81, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 516} +{"episode_index": 82, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 504} +{"episode_index": 83, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 517} +{"episode_index": 84, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 547} +{"episode_index": 85, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 545} +{"episode_index": 86, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 539} +{"episode_index": 87, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 537} +{"episode_index": 88, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 535} +{"episode_index": 89, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 599} +{"episode_index": 90, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 563} +{"episode_index": 91, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 555} +{"episode_index": 92, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 565} +{"episode_index": 93, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 515} +{"episode_index": 94, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 504} +{"episode_index": 95, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 565} +{"episode_index": 96, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 596} +{"episode_index": 97, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 495} +{"episode_index": 98, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 478} +{"episode_index": 99, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 639} +{"episode_index": 100, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 524} +{"episode_index": 101, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 582} +{"episode_index": 102, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 592} +{"episode_index": 103, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 565} +{"episode_index": 104, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 527} +{"episode_index": 105, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 535} +{"episode_index": 106, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 544} +{"episode_index": 107, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 558} +{"episode_index": 108, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 465} +{"episode_index": 109, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 504} +{"episode_index": 110, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 520} +{"episode_index": 111, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 568} +{"episode_index": 112, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 558} +{"episode_index": 113, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 550} +{"episode_index": 114, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 612} +{"episode_index": 115, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 529} +{"episode_index": 116, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 641} +{"episode_index": 117, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 593} +{"episode_index": 118, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 483} +{"episode_index": 119, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 487} +{"episode_index": 120, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 466} +{"episode_index": 121, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 479} +{"episode_index": 122, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 478} +{"episode_index": 123, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 432} +{"episode_index": 124, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position."], "length": 469} +{"episode_index": 125, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 506} +{"episode_index": 126, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 570} +{"episode_index": 127, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 471} +{"episode_index": 128, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 533} +{"episode_index": 129, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 496} +{"episode_index": 130, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 535} +{"episode_index": 131, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 505} +{"episode_index": 132, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 515} +{"episode_index": 133, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 564} +{"episode_index": 134, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 476} +{"episode_index": 135, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 505} +{"episode_index": 136, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 545} +{"episode_index": 137, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 491} +{"episode_index": 138, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 556} +{"episode_index": 139, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 510} +{"episode_index": 140, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 496} +{"episode_index": 141, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 447} +{"episode_index": 142, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 477} +{"episode_index": 143, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 499} +{"episode_index": 144, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 510} +{"episode_index": 145, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 514} +{"episode_index": 146, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 494} +{"episode_index": 147, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 529} +{"episode_index": 148, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 578} +{"episode_index": 149, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 502} 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position."], "length": 641} +{"episode_index": 154, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 616} +{"episode_index": 155, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 639} +{"episode_index": 156, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 610} +{"episode_index": 157, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 630} +{"episode_index": 158, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 601} +{"episode_index": 159, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 606} +{"episode_index": 160, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 706} +{"episode_index": 161, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 618} +{"episode_index": 162, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 588} +{"episode_index": 163, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 658} +{"episode_index": 164, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 600} +{"episode_index": 165, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 625} +{"episode_index": 166, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 610} +{"episode_index": 167, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 660} +{"episode_index": 168, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 762} +{"episode_index": 169, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 662} +{"episode_index": 170, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 694} +{"episode_index": 171, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 637} +{"episode_index": 172, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 651} +{"episode_index": 173, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 644} +{"episode_index": 174, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 585} +{"episode_index": 175, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 609} +{"episode_index": 176, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 735} +{"episode_index": 177, "tasks": ["the left gripper pick up the fallen cup and place it 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gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 575} +{"episode_index": 186, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 502} +{"episode_index": 187, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 489} +{"episode_index": 188, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 511} +{"episode_index": 189, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 486} +{"episode_index": 190, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 535} +{"episode_index": 191, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 511} +{"episode_index": 192, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 616} 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position."], "length": 496} +{"episode_index": 197, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 460} +{"episode_index": 198, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 539} +{"episode_index": 199, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 603} +{"episode_index": 200, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 545} +{"episode_index": 201, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 551} +{"episode_index": 202, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 511} +{"episode_index": 203, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 522} +{"episode_index": 204, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 501} +{"episode_index": 205, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 534} +{"episode_index": 206, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 517} +{"episode_index": 207, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 510} +{"episode_index": 208, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 582} +{"episode_index": 209, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 539} +{"episode_index": 210, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 483} +{"episode_index": 211, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 514} +{"episode_index": 212, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 525} +{"episode_index": 213, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 510} +{"episode_index": 214, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 562} +{"episode_index": 215, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 565} +{"episode_index": 216, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 510} +{"episode_index": 217, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 488} +{"episode_index": 218, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 595} +{"episode_index": 219, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 525} +{"episode_index": 220, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 512} +{"episode_index": 221, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 578} +{"episode_index": 222, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 464} +{"episode_index": 223, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 513} +{"episode_index": 224, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 568} +{"episode_index": 225, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 523} +{"episode_index": 226, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 563} +{"episode_index": 227, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 632} +{"episode_index": 228, "tasks": ["the left 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"tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 602} +{"episode_index": 233, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 557} +{"episode_index": 234, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 509} +{"episode_index": 235, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 575} 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position."], "length": 592} +{"episode_index": 240, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 580} +{"episode_index": 241, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 582} +{"episode_index": 242, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 602} +{"episode_index": 243, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 587} +{"episode_index": 244, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 603} +{"episode_index": 245, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 578} +{"episode_index": 246, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 547} +{"episode_index": 247, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 598} +{"episode_index": 248, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position."], "length": 577} +{"episode_index": 249, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 679} +{"episode_index": 250, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 612} +{"episode_index": 251, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 667} +{"episode_index": 252, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 570} +{"episode_index": 253, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 554} +{"episode_index": 254, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 562} +{"episode_index": 255, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 535} +{"episode_index": 256, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 605} +{"episode_index": 257, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 616} +{"episode_index": 258, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 677} +{"episode_index": 259, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 610} +{"episode_index": 260, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 627} +{"episode_index": 261, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 642} +{"episode_index": 262, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 560} +{"episode_index": 263, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 626} +{"episode_index": 264, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 506} +{"episode_index": 265, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 607} +{"episode_index": 266, "tasks": ["the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position."], "length": 580} 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