diff --git a/leju_robot_pass_the_cleaner_b/.gitattributes b/leju_robot_pass_the_cleaner_b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/.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/leju_robot_pass_the_cleaner_b/README.md b/leju_robot_pass_the_cleaner_b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..4c6d60bf41f4f8caeb3971a790736d48f54ae467 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/README.md @@ -0,0 +1,314 @@ +--- +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 +--- + +# leju_robot_pass_the_cleaner_b + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `leju_robot` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `five_finger_hand` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `industry` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 441 | +| **Total Frames** | 164222 | +| **Total Tasks** | 1 | +| **Total Videos** | 1323 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 8.5GB | + + +## 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 +pick up the cleaner and put it on the table. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Turn the bottle to the front side.** +2. **Pick up the bottle from the table.** +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 0:440 + + +## 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.camera_head_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_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 + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "leju_robot", "total_episodes": 441, "total_frames": 164222, "total_tasks": 1, "total_videos": 1323, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:440"}, "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.camera_head_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "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": [118], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w"]}, "action": {"dtype": "float32", "shape": [54], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +leju_robot_pass_the_cleaner_b_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.camera_head_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.camera_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.camera_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/leju_robot_pass_the_cleaner_b/annotations/eef_acc_mag_annotation.jsonl b/leju_robot_pass_the_cleaner_b/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/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/leju_robot_pass_the_cleaner_b/annotations/eef_direction_annotation.jsonl b/leju_robot_pass_the_cleaner_b/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/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/leju_robot_pass_the_cleaner_b/annotations/eef_velocity_annotation.jsonl b/leju_robot_pass_the_cleaner_b/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/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/leju_robot_pass_the_cleaner_b/annotations/gripper_activity_annotation.jsonl b/leju_robot_pass_the_cleaner_b/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/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/leju_robot_pass_the_cleaner_b/annotations/gripper_mode_annotation.jsonl b/leju_robot_pass_the_cleaner_b/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/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/leju_robot_pass_the_cleaner_b/annotations/scene_annotations.jsonl b/leju_robot_pass_the_cleaner_b/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5066c9cb68d3fb716adc5c6368131e94055fdef9 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/annotations/scene_annotations.jsonl @@ -0,0 +1,451 @@ +{"scene_index": 0, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned at the back, one on either side of the center bottle."} +{"scene_index": 1, "scene": "The yellow cardboard is on the left, and the bottle is centered."} +{"scene_index": 2, "scene": "The yellow cardboard is on the left side, while there are four bottles positioned in various locations including back and front."} +{"scene_index": 3, "scene": "The yellow cardboard is on the left, with three bottles positioned in front and one bottle positioned at the back."} +{"scene_index": 4, "scene": "There is a yellow cardboard placed at the back left position, and there are six bottles positioned in front (three) and back (one)."} +{"scene_index": 5, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 6, "scene": "The bottle is at the center, while the yellow cardboard is positioned at the back left."} +{"scene_index": 7, "scene": "The bottle is on the right, with a yellow cardboard at the back left and multiple bottles positioned throughout the back right area."} +{"scene_index": 8, "scene": "Yellow cardboard is on the left. Bottle is on the right. Another bottle is at the back right. A third bottle is also on the right."} +{"scene_index": 9, "scene": "The bottle is at the front, the yellow cardboard is in the back left, and another bottle is also in the back left."} +{"scene_index": 10, "scene": "The scene contains multiple bottles positioned at different locations: one in front, another to the left of the yellow cardboard, one on the right side, another in the front-right area, and a fifth bottle located at the back."} +{"scene_index": 11, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 12, "scene": "The bottle is positioned at the back, another bottle is on the right side, a third bottle is in the front-right area, and the yellow cardboard is located at the back-left."} +{"scene_index": 13, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 14, "scene": "Bottle at right is positioned on the right side. Bottle at back is located at the back. Yellow cardboard at back left is situated in the back-left area. Bottle at front right is placed in the front-right section."} +{"scene_index": 15, "scene": "Yellow cardboard is positioned at the back left. The first bottle is located at the back. The second and third bottles are positioned at the front."} +{"scene_index": 16, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 17, "scene": "The bottle in the center is positioned centrally, while another bottle is located at the back. Additionally, there s a yellow cardboard situated towards the back left, and a third bottle placed near the front right."} +{"scene_index": 18, "scene": "The bottle is positioned on the right side. The yellow cardboard is located at the back left. The bottle is also positioned at the back."} +{"scene_index": 19, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned to the right and back right."} +{"scene_index": 20, "scene": "The bottle is positioned on the right and also at the back, while the yellow cardboard is positioned at the back left. The bottle is again positioned on the right."} +{"scene_index": 21, "scene": "The bottle is on the right, another bottle is at the back, and a yellow cardboard is positioned at the back left."} +{"scene_index": 22, "scene": "The yellow cardboard is on the left, and there are three bottles all positioned to the right."} +{"scene_index": 23, "scene": "The bottle is positioned at the front right, another bottle is at the back left, a third bottle is at the back right, and a fourth bottle is on the right."} +{"scene_index": 24, "scene": "The yellow cardboard is located at the back left, while all three bottles are positioned in front."} +{"scene_index": 25, "scene": "In the arrangement, there is a yellow cardboard positioned at the back left. Five bottles are placed in various positions: three are at the front, one is at the back right, and another is at the back."} +{"scene_index": 26, "scene": "The bottle is centered, while the yellow cardboard is located at the back left position relative to it."} +{"scene_index": 27, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 28, "scene": "The yellow cardboard is positioned at the back left. There are bottles located in various positions: one bottle is in the center, another is at the back, a third is at the front right, and yet another is also at the back."} +{"scene_index": 29, "scene": "The yellow cardboard is located at the back left, while the six bottles are positioned across both the front and back areas."} +{"scene_index": 30, "scene": "The bottle is at center; another bottle is at front right; the yellow cardboard is at back left; a bottle is at back right; and a bottle is at right."} +{"scene_index": 31, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in various positions: two at the front and two at the back."} +{"scene_index": 32, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 33, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 34, "scene": "The bottle is in the front, with another bottle in the front right and one in the center."} +{"scene_index": 35, "scene": "The scene contains four bottles positioned at different locations: one in the center, one on the back left, and two others located to the back and front right respectively. Additionally, there is a yellow cardboard situated at the back left."} +{"scene_index": 36, "scene": "The bottle is on the right. The yellow cardboard is at the back left. Another bottle is in the back."} +{"scene_index": 37, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back."} +{"scene_index": 38, "scene": "The bottle is at the front right, the yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 39, "scene": "The bottle is positioned on the right, the yellow cardboard is on the left, and another bottle is located at the back right."} +{"scene_index": 40, "scene": "The back has two bottles and a yellow cardboard, the back right has a bottle, the front right has a bottle, and the right has a bottle."} +{"scene_index": 41, "scene": "The bottle is positioned in multiple locations: front right, back right (mentioned three times), and right. The yellow cardboard is on the left."} +{"scene_index": 42, "scene": "The yellow cardboard is on the left, with three bottles arranged in front of it (two in front and one at the back)."} +{"scene_index": 43, "scene": "In the image, there is a bottle at the back, a yellow cardboard at the back left, another bottle in the center, and a third bottle at the front right."} +{"scene_index": 44, "scene": "The yellow cardboard is positioned to the left, while the bottle is placed centrally."} +{"scene_index": 45, "scene": "The yellow cardboard is positioned at the back left. There are multiple bottles located in various positions: one at the back and five at the front (three on the front side)."} +{"scene_index": 46, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned on either sideβ€”one in the front left and another to the right."} +{"scene_index": 47, "scene": "The yellow cardboard is positioned at the back left, with three bottles located around it: one at the right, one at the back, and one at the front right."} +{"scene_index": 48, "scene": "The bottle is at the back, the yellow cardboard is at the back left, and another bottle is at the front."} +{"scene_index": 49, "scene": "The bottle is on the right, a yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 50, "scene": "Bottle at center. Yellow cardboard at back left. Bottle at back. Yellow at center. Bottle at front right. Bottle at right."} +{"scene_index": 51, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 52, "scene": "The yellow cardboard is positioned at the back left. The bottles are located at center, back, and front right positions."} +{"scene_index": 53, "scene": "the bottle is at front right. a bottle is at back. a bottle is at right. yellow cardboard is at back left. a bottle is at back right."} +{"scene_index": 54, "scene": "The yellow cardboard is positioned on the left, while there are four bottles arranged in various positionsβ€”three are at the front and one is at the back."} +{"scene_index": 55, "scene": "A bottle is on the right side. A yellow cardboard is positioned at the back left. Another bottle is located at the front left, and there are two more bottles on the right side."} +{"scene_index": 56, "scene": "The bottle is positioned at the front right. Two bottles are positioned at the back right. A yellow cardboard is positioned at the back left."} +{"scene_index": 57, "scene": "The yellow cardboard is located at the back left of the scene. There are four bottles positioned as follows: one in the front right, one in the back right, another in the back (middle), and a fourth bottle placed to the right side."} +{"scene_index": 58, "scene": "The yellow cardboard is at the back left, while the three bottles are positioned to the right (two on the right and one in the center)."} +{"scene_index": 59, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 60, "scene": "The bottle is on the right, another bottle is at the back right, and a yellow cardboard is located at the back left."} +{"scene_index": 61, "scene": "The bottle is positioned at the back, while the yellow cardboard is located to the left."} +{"scene_index": 62, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned on the right side."} +{"scene_index": 63, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned at both the back and front areas."} +{"scene_index": 64, "scene": "The yellow cardboard is on the left, and there are two bottles positioned behind it."} +{"scene_index": 65, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across different locations with three in front and one at the back."} +{"scene_index": 66, "scene": "The bottle is on the right, the yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 67, "scene": "The yellow cardboard is located at the back left. There are five bottles; three of them are in the front, and two are at the back."} +{"scene_index": 68, "scene": "The bottle is at back, the bottle is at center, the yellow cardboard is at back left, and the bottle is at front right."} +{"scene_index": 69, "scene": "The bottle is positioned at the back, while the yellow cardboard is located to its left."} +{"scene_index": 70, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 71, "scene": "Yellow cardboard is positioned at the back left and bottles are placed in the center on the right at the back and on the right."} +{"scene_index": 72, "scene": "The bottle is on the right, another bottle is at the back, and a yellow cardboard box is positioned at the back left."} +{"scene_index": 73, "scene": "Bottle 1 is on the right Yellow cardboard is at the back left Bottle 2 is in the center and Bottle 3 is on the right"} +{"scene_index": 74, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in front, with three at the front and one at the back."} +{"scene_index": 75, "scene": "The yellow cardboard is on the left, a bottle is in the center, a bottle is at the front-right, another bottle is at the back-right, and a fifth bottle is on the right."} +{"scene_index": 76, "scene": "The yellow cardboard is located at the back left. There are five bottles; three of them are in the front, and two are at the back."} +{"scene_index": 77, "scene": "The yellow cardboard is on the left, while bottles are positioned in various places: one is at the front, another behind it, and two more are at the front right."} +{"scene_index": 78, "scene": "In the scene, there is a bottle in the center, a yellow cardboard at the back-left, and two additional bottles located at the back and on the right."} +{"scene_index": 79, "scene": "The yellow cardboard is located at the back left, while the two bottles on the back right are positioned there as well."} +{"scene_index": 80, "scene": "A yellow cardboard is placed at the back left, while two bottles are positioned behind it."} +{"scene_index": 81, "scene": "The yellow cardboard is on the left, a bottle is on the right, and another bottle is at the back right."} +{"scene_index": 82, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 83, "scene": "The yellow cardboard is located at the back left, while there are multiple bottles positioned across both the front and back areas."} +{"scene_index": 84, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 85, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located in the center."} +{"scene_index": 86, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 87, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 88, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned in front, with one additional bottle placed at the back right."} +{"scene_index": 89, "scene": "The yellow cardboard is on the left, while there are two bottles located at the right and back right positions."} +{"scene_index": 90, "scene": "Bottle 1 is centered, yellow cardboard is located at the back left, bottle 2 is positioned at the front right, and bottle 3 is placed at the back."} +{"scene_index": 91, "scene": "The yellow cardboard is located at the back left position, while the bottles are positioned in various locations with three bottles at the front and two bottles at the back."} +{"scene_index": 92, "scene": "The bottle is at the back, another bottle is in the center, a yellow cardboard is positioned at the back left, and a third bottle is located at the front right."} +{"scene_index": 93, "scene": "The scene contains three bottles positioned at center, front right (twice), and a yellow cardboard placed at back left."} +{"scene_index": 94, "scene": "Yellow cardboard is on the left, while bottles are positioned to the right, back right, and left."} +{"scene_index": 95, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned in the center."} +{"scene_index": 96, "scene": "There are four bottles positioned in different locations: one on the right, one in the front-left, one in the back-left, and one in the back-right. Additionally, there is a yellow cardboard located in the back-left area."} +{"scene_index": 97, "scene": "The yellow cardboard is on the left, with four bottles positioned around it: two in front (one slightly to the right of the other), one directly behind and to the right, and another slightly to the front and right."} +{"scene_index": 98, "scene": "The yellow cardboard is on the left, while both bottles are positioned at the back."} +{"scene_index": 99, "scene": "The scene contains three bottles positioned on the right side and one bottle placed in the back-left corner, with a yellow cardboard located at the back."} +{"scene_index": 100, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 101, "scene": "The yellow cardboard is positioned at the back left, while three bottles are placed in various positions: one bottle is at the center, another is at the back, and a third is at the front right."} +{"scene_index": 102, "scene": "The yellow cardboard is on the left, a bottle is in the center, a bottle is behind another object, another bottle is on the right, and a fifth bottle is in the back right."} +{"scene_index": 103, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across different locations with three in front and one at the back."} +{"scene_index": 104, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back."} +{"scene_index": 105, "scene": "The yellow cardboard is positioned on the left, while there are multiple bottles located at various positions to the right, including one in front right and another at back right."} +{"scene_index": 106, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in front of it, with three in the front and one at the back."} +{"scene_index": 107, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back."} +{"scene_index": 108, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left position."} +{"scene_index": 109, "scene": "The center bottle is in the middle, the front right bottle is at the front-right corner, the yellow cardboard is on the left side, the back right bottle is at the back-right corner, and the right bottle is on the far right."} +{"scene_index": 110, "scene": "The bottle is positioned at the back, while the yellow cardboard is located to the left."} +{"scene_index": 111, "scene": "The yellow cardboard is at the back left, while there are multiple bottles positioned in both the front and back areas."} +{"scene_index": 112, "scene": "The bottle is on the right, another bottle is at the back, and a yellow cardboard is positioned at the back left."} +{"scene_index": 113, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 114, "scene": "The bottle is in the center, the bottle is in the front right, the bottle is in the back right, and the yellow cardboard is in the back left."} +{"scene_index": 115, "scene": "The bottle is on the right, with another bottle at the center and a third bottle also on the right. The yellow cardboard is positioned at the back left."} +{"scene_index": 116, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 117, "scene": "The bottle is in front, the yellow cardboard is on the left, there is a bottle in front-right, one at the back, and another on the right."} +{"scene_index": 118, "scene": "The yellow cardboard is positioned in the front right, while the bottle is located at the back left."} +{"scene_index": 119, "scene": "The yellow cardboard is on the left, while there are five bottles positioned around the right side, with some at the front, back, and various other points relative to it."} +{"scene_index": 120, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 121, "scene": "The bottle is at the back, the cardboard is centered, and the yellow cardboard is on the left."} +{"scene_index": 122, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to the back left relative to it."} +{"scene_index": 123, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 124, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned to the right, including one in the front right and several others in the back right."} +{"scene_index": 125, "scene": "The yellow cardboard is positioned at the back left, while three bottles are located on the right side (one in the center and two on the right)."} +{"scene_index": 126, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned in front and back locations."} +{"scene_index": 127, "scene": "The yellow cardboard is located at the back left, while there are multiple bottles positioned across both the front and back areas."} +{"scene_index": 128, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located on the right, one in the center, and another on the right."} +{"scene_index": 129, "scene": "Yellow cardboard is located at the back left. Bottles are positioned as follows: one at the back, one in the center, one on the right, and another at the front right."} +{"scene_index": 130, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 131, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to the back left relative to it."} +{"scene_index": 132, "scene": "A yellow cardboard is on the left side. In front of it are two bottles positioned towards the front area (one more prominent) and three bottles located at the back right."} +{"scene_index": 133, "scene": "A bottle is on the right side, another bottle is at the back right, and a yellow cardboard is positioned at the back left."} +{"scene_index": 134, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 135, "scene": "The bottle is on the right side, another bottle is at the back right, and a yellow cardboard is positioned at the back left."} +{"scene_index": 136, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 137, "scene": "There is a yellow cardboard at the back left, and four bottles are placed in various positions: two at the back (one on the far left and one in the center), three at the front (two on the far left and one in the center), and one at the back right."} +{"scene_index": 138, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned centrally."} +{"scene_index": 139, "scene": "A bottle is at the center; a yellow cardboard is in the back left; another bottle is behind it; and a third bottle is in the front right."} +{"scene_index": 140, "scene": "The bottle is positioned at the back. Another bottle is in the front right, another is at the back right, and a yellow cardboard is placed at the back left. Additionally, there s a bottle on the right side."} +{"scene_index": 141, "scene": "A bottle is at the center, a yellow cardboard is positioned at the back left."} +{"scene_index": 142, "scene": "The yellow cardboard is located at the back left, while all three bottles are positioned in front."} +{"scene_index": 143, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 144, "scene": "The bottle is at the back, and the yellow cardboard is located at the back-left position."} +{"scene_index": 145, "scene": "The yellow cardboard is on the left, while the bottle is located behind it."} +{"scene_index": 146, "scene": "A yellow cardboard is on the left side of the scene. There are four bottles arranged around it; two are positioned at the back right and two are placed in front, with one slightly to the right of the other."} +{"scene_index": 147, "scene": "Yellow cardboard is located at the back left, with three bottles positioned as follows: one at the back, one in front of it on the right side (back right), and another slightly forward and to the right from there (front right)."} +{"scene_index": 148, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 149, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 150, "scene": "The back bottle is positioned at the back, two bottles are placed on the right side, and a yellow cardboard is located to the left."} +{"scene_index": 151, "scene": "The scene contains multiple bottles positioned in various locations: one at the front, two more also at the front, and another at the back. Additionally, there is a yellow cardboard located at the back left of the scene."} +{"scene_index": 152, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 153, "scene": "The yellow cardboard is positioned to the left, while the bottle is placed centrally."} +{"scene_index": 154, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 155, "scene": "The yellow cardboard is positioned at the back left, while all five bottles are located in various positions at the front and on the right."} +{"scene_index": 156, "scene": "The yellow cardboard is positioned at the back left, while there are five bottles located across various positions including two in the back, one in the center, and two on the right."} +{"scene_index": 157, "scene": "Bottle 1 is at the front, Bottle 2 is at the front, Bottle 3 is at the front, Yellow cardboard is at the back left, Bottle 4 is at the back."} +{"scene_index": 158, "scene": "Yellow cardboard is positioned at the back left bottles are located at the front and back positions"} +{"scene_index": 159, "scene": "Yellow cardboard is on the left, while two bottles are on the right and one bottle is on the left."} +{"scene_index": 160, "scene": "The bottle is positioned at the back, while the yellow cardboard is located to its left."} +{"scene_index": 161, "scene": "The bottle is on the right, the yellow cardboard is at the back left, another bottle is in the center, and a third bottle is also on the right."} +{"scene_index": 162, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 163, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 164, "scene": "The yellow cardboard is positioned at the back left, while three bottles are arranged with two in the front and one at the back."} +{"scene_index": 165, "scene": "Bottle: Front Right; Bottle: Back Right; Yellow Cardboard: Left."} +{"scene_index": 166, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 167, "scene": "Bottle 1 is at the back Bottle 2 is on the right side Yellow cardboard is on the left Bottle 3 is in front and to the right"} +{"scene_index": 168, "scene": "The bottle is in the center, while there s a yellow cardboard at the back left, another bottle at the back, and additional bottles positioned to the front right and on the right."} +{"scene_index": 169, "scene": "Yellow cardboard is on the left. Bottles are positioned to the right (two), back right, and right."} +{"scene_index": 170, "scene": "The three bottles are in front positions, one bottle is at the back, and a yellow cardboard is located at the back left."} +{"scene_index": 171, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in front of it, including three positioned at the front and one at the back."} +{"scene_index": 172, "scene": "The bottle is on the right, the yellow cardboard is at the back left, there s a bottle at the back, and another bottle is at the back right."} +{"scene_index": 173, "scene": "A bottle is positioned at the back, a bottle is in the center, another bottle is in the front right, a yellow cardboard is placed at the back left, and a fifth bottle is located at the front."} +{"scene_index": 174, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 175, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, front right, and front."} +{"scene_index": 176, "scene": "The bottle is on the right, the yellow cardboard is at the back left, another bottle is at the back, and a third bottle is at the back right."} +{"scene_index": 177, "scene": "Bottle 1 is centered. Bottle 2 is at the back. Yellow cardboard is at the back left. Bottle 3 is at the front right."} +{"scene_index": 178, "scene": "The bottle is in the center, another bottle is at the back right, a yellow cardboard is on the back left, and there s also a bottle on the right."} +{"scene_index": 179, "scene": "The yellow cardboard is positioned at the back left, while there are five bottles located at various positions: front left, front, front, back, and back."} +{"scene_index": 180, "scene": "The yellow cardboard is positioned at the back left, with five bottles arranged across different positions, including three at the front and two at the back."} +{"scene_index": 181, "scene": "A yellow cardboard is on the left. A bottle is in front, another bottle is at the front-right, a bottle is at the back, and two more bottles are at the back-right."} +{"scene_index": 182, "scene": "The yellow cardboard is located at the back left, while the four bottles are placed in the following positions: two are centered, one is at the front right, and another is on the right side."} +{"scene_index": 183, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located at front right, back, back right, and right positions."} +{"scene_index": 184, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are located in various positions with three at the front and two at the back."} +{"scene_index": 185, "scene": "The yellow cardboard is at the back left, with three bottles positioned in the center, front right, and back."} +{"scene_index": 186, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated towards the rear but with the yellow cardboard specifically placed to the left side of the back area."} +{"scene_index": 187, "scene": "The yellow cardboard is at the back left, two bottles are positioned towards the back (one slightly behind the other), and a bottle is located at the front right."} +{"scene_index": 188, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 189, "scene": "The two front bottles are positioned at the front, with one slightly to the right. The yellow cardboard is located at the back left, and there s another bottle placed towards the back but not as far back as the cardboard."} +{"scene_index": 190, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located at the back right and one bottle on the right."} +{"scene_index": 191, "scene": "Bottle back, bottle center, yellow cardboard back left, and bottle front right"} +{"scene_index": 192, "scene": "A bottle is at the center, another bottle is at the back, a yellow cardboard is located at the back left, and a third bottle is positioned at the front right."} +{"scene_index": 193, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left relative to it."} +{"scene_index": 194, "scene": "A yellow cardboard is on the left side. There are four bottles positioned in different locations: two at the front, one in the front right, and one in the back."} +{"scene_index": 195, "scene": "The yellow cardboard is on the left, while the four bottles are arranged with three in front and one at the back."} +{"scene_index": 196, "scene": "The yellow cardboard is on the left, with bottles positioned in front right, center, back right, and right."} +{"scene_index": 197, "scene": "The yellow cardboard is positioned on the left, while multiple bottles are arranged in front and one at the back."} +{"scene_index": 198, "scene": "There is a bottle on the back, a yellow cardboard on the back left, and two bottles on the right."} +{"scene_index": 199, "scene": "The yellow cardboard is positioned at the back left, with three bottles located at positions: one on the right, one at the back right, and another at the front left."} +{"scene_index": 200, "scene": "The yellow cardboard is on the left. There are bottles in the front right, right, back right, and another bottle also on the right."} +{"scene_index": 201, "scene": "The yellow cardboard is positioned at the back left, while four bottles are placed in various positions: one in the center, one at the back, another at the front right, and a fourth also at the back."} +{"scene_index": 202, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it, towards the back area as well."} +{"scene_index": 203, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right, specifically at the back right and front right."} +{"scene_index": 204, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 205, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 206, "scene": "The yellow cardboard is at the center, while five bottles are positioned in front of it."} +{"scene_index": 207, "scene": "There is a yellow cardboard located at the back left and six bottles positioned in the front (three) and back (two), with one of them overlapping."} +{"scene_index": 208, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned either in front or back."} +{"scene_index": 209, "scene": "The bottle is located at the back right, another bottle is on the right, and the yellow cardboard is on the left."} +{"scene_index": 210, "scene": "A bottle is at the back, a yellow cardboard is on the left, and two bottles are in the front."} +{"scene_index": 211, "scene": "The yellow cardboard is on the left, while there are multiple bottles located at various positions on the right side, including back right, front right, and directly to the right."} +{"scene_index": 212, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 213, "scene": "The yellow cardboard is at the back left, with three bottles positioned in the center, front, and another front."} +{"scene_index": 214, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 215, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned around it, with one in the center, two in the back (one on the right), and two near the front (one on the right)."} +{"scene_index": 216, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 217, "scene": "The bottle in the center is positioned centrally, with another bottle behind it on the back side. Additionally, there s a yellow cardboard located at the back-left position, and a third bottle situated towards the front-right area."} +{"scene_index": 218, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned in various locations: one each at front, front right, back, and front left."} +{"scene_index": 219, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated towards the rear but with the yellow cardboard specifically placed to the left side of the back area."} +{"scene_index": 220, "scene": "The bottle is at the back, the yellow cardboard is at the back left, two bottles are in the center."} +{"scene_index": 221, "scene": "Bottles are at front right, right, and back right; yellow cardboard is at back left."} +{"scene_index": 222, "scene": "There is a bottle on the right. Another bottle is located at the front-right. A yellow cardboard is placed on the left side."} +{"scene_index": 223, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated towards the rear but with the yellow cardboard specifically placed to the left side of the back area."} +{"scene_index": 224, "scene": "The yellow cardboard is positioned at the back left, while three bottles are located at the back and two at the center."} +{"scene_index": 225, "scene": "The yellow cardboard is at the back left, two bottles are on the front right and back, with a bottle in the center."} +{"scene_index": 226, "scene": "The yellow cardboard is on the left, two bottles are in the center and at the front right, and another bottle is slightly forward from them."} +{"scene_index": 227, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 228, "scene": "The yellow cardboard is on the left, with three bottles positioned at the back right and two bottles on the right."} +{"scene_index": 229, "scene": "The yellow cardboard is on the left, while the four bottles are positioned to the right and back right."} +{"scene_index": 230, "scene": "The yellow cardboard is on the left, with five bottles arranged around itβ€”three at the back right and two at the front right."} +{"scene_index": 231, "scene": "The bottle on the right is positioned to the right, another bottle is in the center, a yellow cardboard is located at the back left, and there s another bottle on the right."} +{"scene_index": 232, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated towards the rear but with the yellow cardboard specifically placed to the left side of the back area."} +{"scene_index": 233, "scene": "The yellow cardboard is on the left, while there are multiple bottles located to the right and back-right of it."} +{"scene_index": 234, "scene": "The bottle is positioned at the front, while the yellow cardboard is located towards the back on the left side."} +{"scene_index": 235, "scene": "There are five bottles and one yellow cardboard. The bottles are located at front right, back right, back, back (two instances), and right positions, while the yellow cardboard is positioned at the back left."} +{"scene_index": 236, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 237, "scene": "The yellow cardboard is positioned at the back left, with five bottles arranged across different positions, including three at the front and two at the back."} +{"scene_index": 238, "scene": "The yellow cardboard is on the left, and the bottle is centered between it and nothing else."} +{"scene_index": 239, "scene": "The yellow cardboard is on the left, with bottles positioned in front right, back right, center, and right."} +{"scene_index": 240, "scene": "The bottle is located at the back, there is another bottle positioned in the front right, a third bottle is placed on the right side, and the yellow cardboard is situated at the back left."} +{"scene_index": 241, "scene": "The yellow cardboard is at the back left, the bottle is in the center, and another bottle is also at the back left."} +{"scene_index": 242, "scene": "The bottle is at the front, there is a yellow cardboard behind it on the left side, and two more bottles are also at the front."} +{"scene_index": 243, "scene": "The yellow cardboard is on the left, with five bottles arranged around it in positions: one at front right, one in the center, and three towards the right (center-right, back right, and possibly overlapping or clustered on the right side)."} +{"scene_index": 244, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 245, "scene": "The yellow cardboard is on the left, while the bottle is located behind it."} +{"scene_index": 246, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned to the right and one at the back right."} +{"scene_index": 247, "scene": "The central bottle is positioned at the center, while another bottle is placed behind it to its back, a yellow cardboard is located towards the back left area, and a third bottle is situated on the right side."} +{"scene_index": 248, "scene": "In a setting with multiple bottles and a yellow cardboard, the yellow cardboard is located at the back left, while all four bottles are positioned in the front area except for one that is placed at the back."} +{"scene_index": 249, "scene": "The scene features five objects: a bottle at front right, a bottle at back, a yellow cardboard at back left, two bottles at back right and right positions."} +{"scene_index": 250, "scene": "The yellow cardboard is located at the back left, while there are five bottles positioned around it: two in the front and three in the back."} +{"scene_index": 251, "scene": "The yellow cardboard is on the left, and there are five bottles positioned in various locations around it."} +{"scene_index": 252, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in front of it, including three positioned at the front and one at the back."} +{"scene_index": 253, "scene": "The yellow cardboard is in the center, and there are four bottles positioned in front, with an additional bottle at the back right."} +{"scene_index": 254, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 255, "scene": "The yellow cardboard is positioned at the back left, while six bottles are located in front and center positions."} +{"scene_index": 256, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 257, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned in various locations: two in front and two at the back."} +{"scene_index": 258, "scene": "The yellow cardboard is on the left, with two bottles positioned to its rightβ€”one at the back right and another directly to the right."} +{"scene_index": 259, "scene": "The bottle is at the back, positioned behind the yellow cardboard on its left side."} +{"scene_index": 260, "scene": "The yellow cardboard is on the left, with a bottle in the center, another bottle behind it, and a third bottle on the right."} +{"scene_index": 261, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned with two in front and two at the back."} +{"scene_index": 262, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to the back left relative to it."} +{"scene_index": 263, "scene": "The first bottle is positioned at the back, the yellow cardboard is located at the back left, while two bottles are placed on the right side."} +{"scene_index": 264, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are all located at the front and back right positions."} +{"scene_index": 265, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 266, "scene": "Bottle 1 is at the center, bottle 2 is on the right, and the yellow cardboard is on the left."} +{"scene_index": 267, "scene": "The yellow cardboard is located at the back left. There are five bottles; three of them are in the front, and two are at the back."} +{"scene_index": 268, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left relative to it."} +{"scene_index": 269, "scene": "The bottle is positioned at the back right, while a yellow cardboard is placed on the left. There are two additional bottles located on the right side."} +{"scene_index": 270, "scene": "A bottle is in the center, another bottle is at the back, a yellow cardboard is positioned at the back left, and a third bottle is located at the front right."} +{"scene_index": 271, "scene": "The yellow cardboard is at the back left, with bottles located at front right, back, back right, and right positions."} +{"scene_index": 272, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned to the right and back right."} +{"scene_index": 273, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned across the front and back right."} +{"scene_index": 274, "scene": "Yellow cardboard is at back left. Bottles are positioned at both front and back areas, with multiple bottles located in the front section."} +{"scene_index": 275, "scene": "The bottle is in the center, the yellow cardboard is at the back left, another bottle is at the back, and a third bottle is on the right."} +{"scene_index": 276, "scene": "The bottle is on the right, the yellow cardboard is at the back left, and there s another bottle behind it, positioned slightly to the right."} +{"scene_index": 277, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned in the front and one bottle is placed at the back right."} +{"scene_index": 278, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned further back but unspecified in direction relative to the cardboard."} +{"scene_index": 279, "scene": "There is a bottle at center, yellow cardboard at back-left, a bottle at front-right, and also a bottle at center."} +{"scene_index": 280, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right, specifically at the back right and front right."} +{"scene_index": 281, "scene": "The yellow cardboard is positioned at the back left, while the six bottles are distributed across the remaining positions: one at the back right and five at various front locations."} +{"scene_index": 282, "scene": "The first bottle is on the right side, the second bottle is at the back, and the yellow cardboard is in the back-left corner."} +{"scene_index": 283, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back."} +{"scene_index": 284, "scene": "The bottle is at the back, positioned behind the yellow cardboard on its left side."} +{"scene_index": 285, "scene": "The bottle is at the back, positioned behind the yellow cardboard on its left side."} +{"scene_index": 286, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned in front and back locations."} +{"scene_index": 287, "scene": "The yellow cardboard is on the left side of the image. There are five bottles positioned as follows: one bottle is located at the back, two bottles are placed in the front area near the right side, and two more bottles are positioned in the front area."} +{"scene_index": 288, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 289, "scene": "The yellow cardboard is positioned at the back left, while the bottles are located at various positions: one at the back, two at the front (one on the front left and one in front), and another bottle is also present at the front."} +{"scene_index": 290, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 291, "scene": "The yellow cardboard is on the left, while there are three bottles located in various positions: one to the right, one at the back, and another at the back right."} +{"scene_index": 292, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned in various locations including the center, back right, and right."} +{"scene_index": 293, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left position."} +{"scene_index": 294, "scene": "The yellow cardboard is located at the back left. There are five bottles; three of them are in the front, and two are at the back."} +{"scene_index": 295, "scene": "The bottle is on the right, with another bottle at the back right, and a yellow cardboard is on the left."} +{"scene_index": 296, "scene": "Bottle 1 is positioned at the front Bottle 2 is positioned at the front Bottle 3 is positioned at the front Bottle 4 is positioned at the back left Yellow cardboard is positioned at the back left."} +{"scene_index": 297, "scene": "the yellow cardboard is on the left there are four bottles three are on the right and one is at the back right"} +{"scene_index": 298, "scene": "The yellow cardboard is located at the back left, while the bottle is centered between them."} +{"scene_index": 299, "scene": "The yellow cardboard is positioned at the back left. There are multiple bottles; three are in the front, one is at the back, and another is at the back right."} +{"scene_index": 300, "scene": "The yellow cardboard is located at the back left, while there are multiple bottles positioned across both the front and back areas."} +{"scene_index": 301, "scene": "The scene consists of four bottles positioned in various locations: one at the center, another at the front right, a third at the back, and the fourth at the back left."} +{"scene_index": 302, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 303, "scene": "Yellow cardboard is positioned on the left. Bottles are located at positions right, back right, and another bottle is also at back right."} +{"scene_index": 304, "scene": "The bottle is in the center, another bottle is at the front right, a third bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 305, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 306, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it, towards the back area as well."} +{"scene_index": 307, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned at the right, back right, and front left."} +{"scene_index": 308, "scene": "A bottle is on the right, a yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 309, "scene": "A yellow cardboard is located at the back left position, while two bottles are placed at the back right and another bottle is situated at the right position."} +{"scene_index": 310, "scene": "The bottle is on the left, another bottle is at the back, and the yellow cardboard is positioned at the back left."} +{"scene_index": 311, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned on the right (one) and back right (another)."} +{"scene_index": 312, "scene": "The yellow cardboard is on the left, while both bottles are positioned at the back."} +{"scene_index": 313, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 314, "scene": "The center bottle is in the middle. The front-right bottle is in the front-right area. The yellow cardboard is located at the back-left position. The back-right bottle is situated at the back-right location. The right bottle is positioned on the right side."} +{"scene_index": 315, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 316, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it at the back."} +{"scene_index": 317, "scene": "The bottle is located at the back, another bottle is positioned on the right side, the yellow cardboard is placed at the back left, and a third bottle is situated at the front right."} +{"scene_index": 318, "scene": "The yellow cardboard is on the left, while the two bottles are positioned on the right and back right."} +{"scene_index": 319, "scene": "Yellow cardboard is positioned at the back left. Bottles are placed in multiple positions: one at the back and four at the front."} +{"scene_index": 320, "scene": "The yellow cardboard is located at the back left, while multiple bottles are positioned across the scene with two in the center, one at the back, and the others on the right side."} +{"scene_index": 321, "scene": "In the image, there is a bottle in the front right area, another bottle on the right side, a yellow cardboard located at the back left, and a third bottle positioned at the back right."} +{"scene_index": 322, "scene": "The yellow cardboard is at the back left, a bottle is in the center, a bottle is at the front right, a bottle is at the back, and a bottle is at the front."} +{"scene_index": 323, "scene": "The bottle is positioned front; another bottle is at the front right; a third bottle is in the center; and finally, a yellow cardboard is placed on the left."} +{"scene_index": 324, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across different locations with three in front and one at the back."} +{"scene_index": 325, "scene": "The scene contains four bottles positioned in various locations: three at the front and one at the back. Additionally, there is a yellow cardboard located at the back left area of the scene."} +{"scene_index": 326, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to the back left relative to it."} +{"scene_index": 327, "scene": "The front-right bottle is at the front-right position; the back-right bottle is behind and to the right; the back bottle is located at the back; the right bottle is on the right side; and the yellow cardboard is positioned at the back-left."} +{"scene_index": 328, "scene": "The yellow cardboard is positioned on the left side, while the six bottles are located in various positions to the right and back right."} +{"scene_index": 329, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back right."} +{"scene_index": 330, "scene": "The bottle is on the right, with two other bottles behind itβ€”the one at the back left and another at the back right."} +{"scene_index": 331, "scene": "Bottle Back Yellow Cardboard Back Left Bottle Center Bottle Center"} +{"scene_index": 332, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned in various places: two on the right side (one center and one back), and two others are not specified but likely placed elsewhere within the scene."} +{"scene_index": 333, "scene": "A bottle is in front, a yellow cardboard is on the left, another bottle is in front-right, a third bottle is on the right, and a fourth bottle is at the back."} +{"scene_index": 334, "scene": "The bottle is at the center, there s another bottle behind it, a yellow cardboard on the back left, a bottle on the right, and a bottle in the front right."} +{"scene_index": 335, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 336, "scene": "Yellow cardboard is located at the back left, while bottles are positioned at the back right (four times) and right."} +{"scene_index": 337, "scene": "The yellow cardboard is positioned at the back left, with multiple bottles arranged across various positions: one in the center, one on the right, one at the front right, and two additional bottles located towards the back."} +{"scene_index": 338, "scene": "The center bottle is in the middle, with two bottles on the right side and one yellow cardboard at the back left."} +{"scene_index": 339, "scene": "The yellow cardboard is at the back left, a bottle is at the front left, and another bottle is on the right."} +{"scene_index": 340, "scene": "The yellow cardboard is positioned at the back left, sharing that same position with a bottle, while another bottle is located towards the right."} +{"scene_index": 341, "scene": "The scene contains multiple bottles positioned at different locations: one in the center, one at the front right, one at the back right, and another on the right side. Additionally, a yellow cardboard is placed to the left of the scene."} +{"scene_index": 342, "scene": "Bottle 1 is positioned at the back, Bottle 2 is positioned at the front, Bottle 3 is positioned at the center, and the yellow cardboard is positioned at the back left."} +{"scene_index": 343, "scene": "Three bottles are on the right side, and a yellow cardboard is on the left."} +{"scene_index": 344, "scene": "The bottle is positioned at the center, while the yellow cardboard is located to its left."} +{"scene_index": 345, "scene": "The yellow cardboard is located at the back left, while there are multiple bottles positioned across both the front and back areas."} +{"scene_index": 346, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in front, with three at the front and one at the back."} +{"scene_index": 347, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated towards the rear but with the yellow cardboard specifically placed to the left side of the back area."} +{"scene_index": 348, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 349, "scene": "The yellow cardboard is located at the back left. There are five bottles; three of them are in the front, and two are at the back."} +{"scene_index": 350, "scene": "Bottle is at center, Bottle is at front right, Yellow cardboard is at back left."} +{"scene_index": 351, "scene": "The bottle is in front, another bottle is at the back, a third bottle is at the back left, along with a yellow cardboard also located at the back left."} +{"scene_index": 352, "scene": "The bottle is in the center, another bottle is at the back, a third bottle is on the right, and the yellow cardboard is positioned at the back left."} +{"scene_index": 353, "scene": "Yellow cardboard is on the left, two bottles are in the center and front right, and one bottle is at the front."} +{"scene_index": 354, "scene": "The yellow cardboard is positioned at the back left. There are multiple bottles positioned in various locations: two at the back, one in the center, and one at the front right."} +{"scene_index": 355, "scene": "The yellow cardboard is at the back left, while the two bottles are positioned in front right and back respectively."} +{"scene_index": 356, "scene": "The yellow cardboard is located at the back left position, while the bottles are positioned in various locations with three bottles at the front and two bottles at the back."} +{"scene_index": 357, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in front of itβ€”three bottles are positioned at the front and one bottle is behind them."} +{"scene_index": 358, "scene": "The yellow cardboard is located at the back left, while three bottles are placed in the center and one bottle is positioned at the front right."} +{"scene_index": 359, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned further back but unspecified in direction relative to the cardboard."} +{"scene_index": 360, "scene": "The bottle is in front-right, the yellow cardboard is at back-left, another bottle is centered, and a third bottle is at the back."} +{"scene_index": 361, "scene": "The yellow cardboard is positioned at the back left and there are three bottles all located in the front position."} +{"scene_index": 362, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned as follows: one at the right, one at the front left, and two at the back right."} +{"scene_index": 363, "scene": "The yellow cardboard is on the left, and there are two bottles positioned on the right."} +{"scene_index": 364, "scene": "Bottle 1 is positioned at the back Bottle 2 is positioned at the center Yellow cardboard is positioned at the back left Bottle 3 is positioned at the front right"} +{"scene_index": 365, "scene": "Yellow cardboard is located on the left side. Bottles include one positioned at the back right, another placed in the front right, and two located at the front."} +{"scene_index": 366, "scene": "The bottle is positioned at back, the bottle is positioned at right, and the yellow cardboard is positioned at back left."} +{"scene_index": 367, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 368, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 369, "scene": "The first bottle is positioned at the center. The second bottle is located at the front-right. The yellow cardboard is placed at the back-left."} +{"scene_index": 370, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located in the center (one overlapping another) and one bottle at the front."} +{"scene_index": 371, "scene": "Bottle is at center, yellow cardboard is at back left, bottle is at left."} +{"scene_index": 372, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 373, "scene": "Yellow cardboard is on the left, with three bottles positioned in the front right and one bottle placed further back."} +{"scene_index": 374, "scene": "Yellow cardboard is at the back left. Bottle is on the right. Another bottle is at the front right. A third bottle is at the back right. The last bottle is in front."} +{"scene_index": 375, "scene": "The bottle is positioned at both back right and right, while the yellow cardboard is located on the left side."} +{"scene_index": 376, "scene": "The yellow cardboard is located at the back left, while there are multiple bottles positioned across the front and back right."} +{"scene_index": 377, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back."} +{"scene_index": 378, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned further back but there s no specific left or right placement mentioned for it."} +{"scene_index": 379, "scene": "The yellow cardboard is positioned at the back left, while there are five bottles located at various positions: one each at the back right, right, front left, and two more at the back right."} +{"scene_index": 380, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located on the right, center, and right positions."} +{"scene_index": 381, "scene": "The bottle is on the right, the yellow cardboard is at the back left, another bottle is in the center, and a third bottle is also on the right."} +{"scene_index": 382, "scene": "Bottle 1 is positioned on the right. Bottle 2 is positioned on the right. Bottle 3 is positioned in the center. Yellow cardboard is positioned at the back left."} +{"scene_index": 383, "scene": "The yellow cardboard is positioned at the back left, while multiple bottles are placed on the right and back right positions."} +{"scene_index": 384, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 385, "scene": "Yellow cardboard is located at the back left and bottles are positioned as follows two bottles are at the front one bottle is at the back right and another bottle is at the back."} +{"scene_index": 386, "scene": "The yellow cardboard is at the back left, a bottle is on the right, and another bottle is also at the back left."} +{"scene_index": 387, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 388, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in front, with three at the front and one at the back."} +{"scene_index": 389, "scene": "In the scene, there are three identical bottles positioned at the front, one bottle located at the back, a yellow cardboard placed in the back left area."} +{"scene_index": 390, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, front right, and front."} +{"scene_index": 391, "scene": "Bottle front right is located at the front-right position Yellow cardboard back left is positioned at the back-left Bottle bottle left is situated on the left side Bottle bottle left is found on the left side Bottle bottle back right is placed at the back-right location Bottle bottle back right is positioned at the back-right Bottle bottle back right is located at the back-right spot"} +{"scene_index": 392, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left relative to it."} +{"scene_index": 393, "scene": "Yellow cardboard is located at the back left. A bottle is in the center. A bottle is on the right side. Another bottle is also in the center."} +{"scene_index": 394, "scene": "bottle positions include front right left back right and multiple at back left yellow cardboard located at back left"} +{"scene_index": 395, "scene": "The yellow cardboard is on the left, with a bottle in front of it on the left side. Additionally, there are bottles positioned at the front and back right. The relationship between the objects is that multiple bottles are arranged around the yellow cardboard, with some overlapping due to their positions."} +{"scene_index": 396, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned behind it but not specified with a left or right direction."} +{"scene_index": 397, "scene": "The bottle is positioned on the right side, another bottle is placed at the back, a third bottle is located in the front right area, and the yellow cardboard is situated at the back left."} +{"scene_index": 398, "scene": "The front-right bottle is positioned at the front right, with three other bottles located at the back (back), back-left, and back-right positions, and a yellow cardboard placed at the back left."} +{"scene_index": 399, "scene": "The yellow cardboard is positioned to the left, while the bottle is placed centrally."} +{"scene_index": 400, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 401, "scene": "The bottle is positioned at the back. The bottle is positioned on the right side. The bottle is positioned at the front right. The yellow cardboard is located at the back left."} +{"scene_index": 402, "scene": "The yellow cardboard is on the left, while the bottle is located behind it."} +{"scene_index": 403, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned at both the back and front."} +{"scene_index": 404, "scene": "The yellow cardboard is on the left, while the bottle is located behind it."} +{"scene_index": 405, "scene": "The first bottle is on the right. The second bottle is at the back. The yellow cardboard is at the back left."} +{"scene_index": 406, "scene": "Yellow cardboard is positioned at the back left and bottles are placed in multiple positions: one at the back and four at the front."} +{"scene_index": 407, "scene": "The yellow cardboard is located at the back left, while three bottles are all positioned in front."} +{"scene_index": 408, "scene": "Bottle is located at front right. Yellow cardboard is positioned on the left. Bottle is placed at back right."} +{"scene_index": 409, "scene": "Yellow cardboard is located at the back left bottles are positioned in the center back and two on the right."} +{"scene_index": 410, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned behind it but not specified as to their exact placement relative to each other."} +{"scene_index": 411, "scene": "The yellow cardboard is on the left, while the bottle is located behind it."} +{"scene_index": 412, "scene": "The yellow cardboard is positioned at the back left, while all three bottles are located in front."} +{"scene_index": 413, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 414, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned at the back, center, and front right respectively."} +{"scene_index": 415, "scene": "The yellow cardboard is positioned at the back left, while all four bottles are located in front positions, with one specifically placed at the front right."} +{"scene_index": 416, "scene": "The bottle in the back is positioned behind and to the right of another object, while a yellow cardboard is located at the back-left."} +{"scene_index": 417, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 418, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in front, with three at the front and one at the back."} +{"scene_index": 419, "scene": "The yellow cardboard is on the left, with multiple bottles positioned around the front and back right."} +{"scene_index": 420, "scene": "The yellow cardboard is on the left, while there are three bottles positioned to the right (with two specifically located at the back right)."} +{"scene_index": 421, "scene": "The bottle is at the back, positioned behind the yellow cardboard on its left side."} +{"scene_index": 422, "scene": "The bottle is at the back, a yellow cardboard is placed at the back left, and two bottles are positioned in front."} +{"scene_index": 423, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 424, "scene": "Yellow cardboard is on the left, the bottle is on the right, the bottle is at the back right, and the bottle is on the left."} +{"scene_index": 425, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back right."} +{"scene_index": 426, "scene": "Bottle 1 is positioned on the right Bottle 2 is positioned at the back Yellow cardboard is positioned at the back left Bottle 3 is positioned at the front right"} +{"scene_index": 427, "scene": "The bottle is at the back, and the yellow cardboard is located at the back-left position."} +{"scene_index": 428, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located at the front and one bottle is at the back."} +{"scene_index": 429, "scene": "The yellow cardboard is on the left, while the bottles are positioned in various locations including one at the back, two at the front, and another specifically placed in the front right."} +{"scene_index": 430, "scene": "yellow cardboard is on the left, bottle is in the center, yellow cardboard is at the center, bottle is at the back-right, bottle is on the right."} +{"scene_index": 431, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left position."} +{"scene_index": 432, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned at the front left and center."} +{"scene_index": 433, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are arranged in pairs at the back and front left positions."} +{"scene_index": 434, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, front right, back right, and right."} +{"scene_index": 435, "scene": "The yellow cardboard is located at the back left, and there are multiple bottles positioned across the scene, specifically two in the back (one general and one at back right), three in the front, and another at back right."} +{"scene_index": 436, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it, towards the back area as well."} +{"scene_index": 437, "scene": "There is a bottle in the center, a yellow cardboard on the left, and bottles in the front right, back right, and right positions."} +{"scene_index": 438, "scene": "The yellow cardboard is on the left. A bottle is in front, another bottle is in front-right, and two bottles are behind, with one positioned more to the right."} +{"scene_index": 439, "scene": "The yellow cardboard is on the left, with three bottles arranged in front of it: two at the front (one on the front right and one on the front), and one centered."} +{"scene_index": 440, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 441, "scene": "The yellow cardboard is located at the back left position, while the bottles are positioned in various locations with three bottles at the front and two bottles at the back."} +{"scene_index": 442, "scene": "The yellow cardboard is on the left, and there are three bottles positioned on the right."} +{"scene_index": 443, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 444, "scene": "The yellow cardboard is on the left, and the bottle is located behind it."} +{"scene_index": 445, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 446, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 447, "scene": "The bottle is centered in the middle of the scene, while another bottle is located at the front right. A yellow cardboard is positioned at the back left, and a third bottle is situated at the back."} +{"scene_index": 448, "scene": "Yellow cardboard is positioned at the back left. Bottles are located at the back and front of the scene."} +{"scene_index": 449, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned further back but unspecified in direction relative to the cardboard."} +{"scene_index": 450, "scene": "The bottle is positioned at the center, while the yellow cardboard is located at the back-left position."} diff --git a/leju_robot_pass_the_cleaner_b/annotations/subtask_annotations.jsonl b/leju_robot_pass_the_cleaner_b/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..859f9c2ac9c76eadc3c726e2d40e25c766c76c61 --- /dev/null +++ b/leju_robot_pass_the_cleaner_b/annotations/subtask_annotations.jsonl @@ -0,0 +1,3 @@ +{"subtask_index": 0, "subtask": "Turn the bottle to the front side."} +{"subtask_index": 1, "subtask": "Pick up the bottle from the table."} +{"subtask_index": 2, "subtask": "null"} diff --git 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