Copy R1_Lite_boil_water_in_a_kettle into RoboCOIN_useable

R1_Lite_boil_water_in_a_kettle/.gitattributes

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

R1_Lite_boil_water_in_a_kettle/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_boil_water_in_a_kettle
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 75 |
+| **Total Frames** | 85792 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 225 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 3.9GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+place kettle on heating plate heat then set beside sink.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Start boiling water** 
+2. **Place it on the power base** 
+3. **Finish boiling water** 
+4. **abnormal** 
+5. **Place it by the sink** 
+6. **Pick up the kettle** 
+7. **Grab the kettle** 
+8. **null** 
+
+
+## 🎥 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
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:74
+
+
+## 📁 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": "galaxea_r1_lite", "total_episodes": 75, "total_frames": 85792, "total_tasks": 1, "total_videos": 225, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:74"}, "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": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "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", "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"]}, "action": {"dtype": "float32", "shape": [14], "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", "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"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_boil_water_in_a_kettle_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_boil_water_in_a_kettle/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_boil_water_in_a_kettle/annotations/eef_direction_annotation.jsonl

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

R1_Lite_boil_water_in_a_kettle/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_boil_water_in_a_kettle/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_boil_water_in_a_kettle/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_boil_water_in_a_kettle/annotations/scene_annotations.jsonl

@@ -0,0 +1,78 @@
+{"scene_index": 0, "scene": "The bottle is at front right, the plate is on the left, another bottle is also at front right, food is at front left, and the electric kettle is on the left."}
+{"scene_index": 1, "scene": "The faucet is at the center, and the small cup is on its right side."}
+{"scene_index": 2, "scene": "The faucet is located at the front, the small cup is positioned in the front-right area, and the electric kettle is placed at the back-right."}
+{"scene_index": 3, "scene": "The small cup is at the center, the food is located at the back right, the faucet is on the left, and the plate shares the same back right position as the food."}
+{"scene_index": 4, "scene": "The faucet is at the front, and the small cup is positioned in front-right relative to it."}
+{"scene_index": 5, "scene": "The faucet is on the left, the food and plate are on the right, the kettle base is at the back right, and the electric kettle is at the back left."}
+{"scene_index": 6, "scene": "Faucet is at the front right. Small cup is on the right. Electric kettle is at the back right."}
+{"scene_index": 7, "scene": "Electric kettle is at the back left bottle is on the right another bottle is at the back right food is at the back left plate is also at the back left waste paper is at the back right kettle base is at the back there is food on the left."}
+{"scene_index": 8, "scene": "The electric kettle is at the back left, paired with its base in the same position. Two bottles are on the right side, a plate is on the left, and two separate food items are also placed on the left, while waste paper is positioned on the right."}
+{"scene_index": 9, "scene": "The bottle 1 is at the front right. The bottle 2 is also at the front right. The food 1 and food 2 are both at the front left. The electric kettle is at the front left. The waste paper is at the front right. The plate is at the front left. The kettle base is on the left."}
+{"scene_index": 10, "scene": "The faucet is on the left, with a small cup in the center. Behind them, to the right, there s food placed alongside both the kettle base and plate, while the electric kettle is positioned at the back left."}
+{"scene_index": 11, "scene": "The faucet is positioned at front right, the small cup is also at front right but placed in front of the faucet, and the electric kettle is located to the right side."}
+{"scene_index": 12, "scene": "The faucet is located at the front right, along with the small cup positioned nearby in the same area. The electric kettle is situated towards the back right."}
+{"scene_index": 13, "scene": "The faucet is on the right, and the small cup is also on the right."}
+{"scene_index": 14, "scene": "The following items are present: Bottle Front right, Plate Left, Food Left."}
+{"scene_index": 15, "scene": "The bottle is in the front right, the plate is in the front left, the waste paper is in the front right, and both food items are in the front left along with the electric kettle and its base."}
+{"scene_index": 16, "scene": "The faucet is positioned at front right, the small cup is also at front right, and the electric kettle is located in front."}
+{"scene_index": 17, "scene": "The two bottles are both positioned in the front right, the plate and food are both in the front left, and the kettle base is on the left."}
+{"scene_index": 18, "scene": "The faucet is at the center, and the small cup is on its right side."}
+{"scene_index": 19, "scene": "The small cup is located in the front-right area, positioned near the faucet which is also in the front-right. The electric kettle is situated at the back-right, away from both the cup and the faucet."}
+{"scene_index": 20, "scene": "The small cup is located at the front right, positioned near the faucet which is also in the front right area."}
+{"scene_index": 21, "scene": "The faucet and small cup are at the front right, while the electric kettle is positioned in front."}
+{"scene_index": 22, "scene": "The bottle is positioned in the front right, with another bottle also in the front right; the plate and kettle base are both on the left side; food is located in the front left."}
+{"scene_index": 23, "scene": "The two bottles are both positioned on the right. The electric kettle is located at the back left. The plate is placed on the left. The waste paper is situated on the right. The kettle base is found at the back. There are two foods, both located on the left."}
+{"scene_index": 24, "scene": "Two bottles are positioned in the front right area, a plate is on the left, and two portions of food are also on the left."}
+{"scene_index": 25, "scene": "The faucet is centered, while the small cup is placed to its right."}
+{"scene_index": 26, "scene": "The small cup is positioned in the front-right corner, located near the faucet, which is also placed in the front-right area. The electric kettle is situated at the back-right."}
+{"scene_index": 27, "scene": "The bottle is at the front, the bottle is at the front right, the plate is at the left, the food is at the left, and the kettle base is at the left."}
+{"scene_index": 28, "scene": "The faucet is positioned at front right, the small cup is also at front right, and the electric kettle is located in front."}
+{"scene_index": 29, "scene": "The two bottles are both on the right, the electric kettle and kettle base are at the back, the waste paper is in the back right, and the plate is in the back left."}
+{"scene_index": 30, "scene": "The electric kettle is positioned at the back left, with its base also located at the back. Two bottles are placed to the right, and waste paper is situated at the back right."}
+{"scene_index": 31, "scene": "The bottle is in the front right, and the plate with food is in the front left."}
+{"scene_index": 32, "scene": "The faucet is on the right, the small cup is also on the right, and the electric kettle is at the back right."}
+{"scene_index": 33, "scene": "The two bottles are both on the right, the plate is at the back left, and the food items are also located at the back left."}
+{"scene_index": 34, "scene": "The faucet is on the left, a small cup is in the center, food and a plate are at the back right, another plate is also at the back right with two kettle bases, and an electric kettle is at the back left."}
+{"scene_index": 35, "scene": "The faucet and small cup are both positioned at front right, with no specified relationship between them, while the electric kettle is placed at front."}
+{"scene_index": 36, "scene": "The scene depicts a setup with two bottles positioned in the front right, one plate and two foods in the front left."}
+{"scene_index": 37, "scene": "There is a faucet at front right, a small cup at front right, and an electric kettle at front."}
+{"scene_index": 38, "scene": "Bottles are at front right, food and plate are on the left with the kettle base, and the electric kettle is also at front right."}
+{"scene_index": 39, "scene": "The two bottles are both on the right side; there is a plate and two foods on the left side; a paper is also on the right; the kettle base and electric kettle are located at the back, with the latter being slightly to the left."}
+{"scene_index": 40, "scene": "The bottle is positioned in the front right, and there are two plates, each with food, both located in the front left. Additionally, a small cup is also placed in the front right."}
+{"scene_index": 41, "scene": "Bottle on the right, electric kettle at the back left, plate on the left, food on the left, and waste paper on the right."}
+{"scene_index": 42, "scene": "The electric kettle is positioned at the back left, with its base directly behind it. On the right side, there are two bottles placed together, a waste paper located nearby, while on the left, there are plates and food items."}
+{"scene_index": 43, "scene": "The electric kettle is on the left, with waste paper and food also positioned to its left. The bottle is on the right, accompanied by another bottle and a waste paper nearby. Additionally, the kettle base is placed at the back of the setup."}
+{"scene_index": 44, "scene": "The objects are arranged with two bottles at the front right, a plate and food at the front left, a kettle base on the left, and an electric kettle at the front right."}
+{"scene_index": 45, "scene": "The electric kettle is at the back left, positioned behind the plate on the left. Two bottles are both on the right side. The food is on the left, likely near or in front of the plate. Waste paper is located at the back right, possibly near the kettle base, which is also at the back."}
+{"scene_index": 46, "scene": "The two bottles are both in the front right position, the plate is on the left, three portions of food are placed in the front left, and the kettle base is also located on the left."}
+{"scene_index": 47, "scene": "The faucet is at front right, the small cup is also at front right, and the electric kettle is at back right."}
+{"scene_index": 48, "scene": "The two bottles are both at front right, a plate is on the left, and there are foods on the front left along with a kettle base also on the left."}
+{"scene_index": 49, "scene": "The faucet is on the left, the electric kettle is in the center, and the small cup is at the back right."}
+{"scene_index": 50, "scene": "The faucet is positioned to the right, and it s located near the small cup, which is also on the right side."}
+{"scene_index": 51, "scene": "The faucet is on the left, food and a plate are both on the right, a small cup is in the center, the kettle base is at the back right, and the electric kettle is at the back left."}
+{"scene_index": 52, "scene": "The faucet is located at the front right, with the small cup positioned adjacent to it, also in the front right area."}
+{"scene_index": 53, "scene": "The faucet is at the front-right, with the small cup also positioned front-right nearby it, while the electric kettle is located slightly further back but still in the front section."}
+{"scene_index": 54, "scene": "The bottle is located at the front right, with two instances present. The plate is positioned on the left, along with three food items and an electric kettle, all of which are also on the left side."}
+{"scene_index": 55, "scene": "The faucet is located at the front right, and the small cup is also positioned in the front right area."}
+{"scene_index": 56, "scene": "The faucet is on the left, the small cup is in the center, and the plate, three food items, the kettle base, and the electric kettle are all located at the back right."}
+{"scene_index": 57, "scene": "The bottle is at front right, the plate and food are on the left, the small cup is on the right."}
+{"scene_index": 58, "scene": "The electric kettle is on the left; two bottles are in the front-right; waste paper is on the right; food is in the front-left and also on the left; a plate is on the left; and the kettle base is at the center."}
+{"scene_index": 59, "scene": "Bottles are on the front right and right sides, with one also noted again; a plate is on the left. Food items are on the left side as well, while an electric kettle is on the right."}
+{"scene_index": 60, "scene": "Bottle is located at front right; Electric Kettle is located at front right; Plate is located at front left; Food is located at front left."}
+{"scene_index": 61, "scene": "The electric kettle is at center, faucet is on the left, and plate, food, and kettle base are all in the back right."}
+{"scene_index": 62, "scene": "The faucet is positioned at front right, the small cup is also at front right, and the electric kettle is placed in front."}
+{"scene_index": 63, "scene": "The two bottles are in front right, the plate is in front left, the food is in front left, the waste paper is in front right, and the kettle base is on the left."}
+{"scene_index": 64, "scene": "The bottle is located in the front right another bottle is also in the front right the electric kettle is positioned in the front right the plate is placed in the front left there is waste paper in the front right food is located in the front left additional food is also in the front left and the kettle base is situated on the left side."}
+{"scene_index": 65, "scene": "The faucet is positioned at front right, with the electric kettle in front and the small cup also located at front right."}
+{"scene_index": 66, "scene": "The electric kettle is on the left, the two bottles are in the front right, the food and plate are both in the front left, and the waste paper is also in the front right."}
+{"scene_index": 67, "scene": "The bottle is on the right side. There are two bottles both on the right. The waste paper is also on the right. The electric kettle is at the back left. The plate is on the left. The kettle base is at the back. There are two foods, both on the left."}
+{"scene_index": 68, "scene": "The faucet is positioned at the front right, with the small cup also located in the same front right area."}
+{"scene_index": 69, "scene": "The faucet is positioned at front right, the small cup is also at front right, and the electric kettle is placed in front."}
+{"scene_index": 70, "scene": "The two bottles are both in the front right position, while the plate is on the left and there are two foods also on the left."}
+{"scene_index": 71, "scene": "The electric kettle is positioned at the back left, and its base is located at the back. Two bottles are on the right side, with one of them being accompanied by waste paper. Food items are placed on the left, with two plates also situated on the left."}
+{"scene_index": 72, "scene": "The faucet is located at the center, while the small cup is positioned to its right."}
+{"scene_index": 73, "scene": "The faucet is located at the center, while the small cup is positioned to its right."}
+{"scene_index": 74, "scene": "The faucet is located at the front-right, the electric kettle is in the front, and the small cup is also at the front-right."}
+{"scene_index": 75, "scene": "Bottle on front right, another bottle on front right, food on front left, plate on front left, food on front left, more food on front left, additional food on front left, and a plate on front right."}
+{"scene_index": 76, "scene": "Each bottle is on the right side, the plate and food items are both on the left side."}
+{"scene_index": 77, "scene": "The electric kettle is positioned at the back left, while the two bottles are located on the right and back right."}

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+{"subtask_index": 2, "subtask": "Finish boiling water"}
+{"subtask_index": 3, "subtask": "abnormal"}
+{"subtask_index": 4, "subtask": "Place it by the sink"}
+{"subtask_index": 5, "subtask": "Pick up the kettle"}
+{"subtask_index": 6, "subtask": "Grab the kettle"}
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