Copy R1_Lite_take_and_put_the_bowl into RoboCOIN_useable

R1_Lite_take_and_put_the_bowl/.gitattributes

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

R1_Lite_take_and_put_the_bowl/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_take_and_put_the_bowl
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 94 |
+| **Total Frames** | 189200 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 282 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 7.0GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+put bowls plates in cabinet then take out to table close.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Place it on the table** 
+2. **Put it back into the cabinet** 
+3. **Take the plate from the cabinet** 
+4. **Pick up the plate from the table** 
+5. **Close the cabinet door** 
+6. **Pick up the bowl from the table** 
+7. **Take the bowl from the cabinet** 
+8. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 3 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:93
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 94, "total_frames": 189200, "total_tasks": 1, "total_videos": 282, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:93"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_take_and_put_the_bowl_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_take_and_put_the_bowl/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_take_and_put_the_bowl/annotations/eef_direction_annotation.jsonl

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

R1_Lite_take_and_put_the_bowl/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_take_and_put_the_bowl/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_take_and_put_the_bowl/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_take_and_put_the_bowl/annotations/scene_annotations.jsonl

@@ -0,0 +1,95 @@
+{"scene_index": 0, "scene": "The table is at the center, with plates also centered. Bowls are positioned in the front section, including one each at the front left and front right."}
+{"scene_index": 1, "scene": "The plates are positioned at the front."}
+{"scene_index": 2, "scene": "The bowls and plates are all positioned at the front."}
+{"scene_index": 3, "scene": "The bowls are positioned in the front left, front right, and front areas, while the plates are centered and also present in the front right. The table is at the center."}
+{"scene_index": 4, "scene": "The bowls are positioned at the front, with some located in the front right area."}
+{"scene_index": 5, "scene": "The table is at the center, the bowls are at the front right and front left, the plates are at the center, and the cabinet is at the center."}
+{"scene_index": 6, "scene": "The plates and bowls are both positioned at the front."}
+{"scene_index": 7, "scene": "Each bowl and plate is positioned in the front."}
+{"scene_index": 8, "scene": "Bowls are positioned in front, table is positioned on the right, bowls are also placed in front left, plates are located at front right."}
+{"scene_index": 9, "scene": "Bowls are in front, bowls are in the front left, bowls are in the front right, and the table is on the right."}
+{"scene_index": 10, "scene": "The plates are centered and also located at the front right, with a table in the center and a cabinet positioned in front."}
+{"scene_index": 11, "scene": "Plates are positioned at the front. Table is in the center. Bowls and plates are at the front. Bowls and plates are at the front right. Bowls are at the front right."}
+{"scene_index": 12, "scene": "Each bowl and plate is positioned on either the right side or the front right side."}
+{"scene_index": 13, "scene": "The bowls are positioned at the front (left and right) as well as in the front, and the plates are located in the center and at the front right."}
+{"scene_index": 14, "scene": "The bowls are positioned at the front right."}
+{"scene_index": 15, "scene": "The bowls are positioned at the front right, front, center, and front left of the table."}
+{"scene_index": 16, "scene": "The table is at the center. The bowls are centered and positioned in front, with some in the front left, front right, and another set of bowls in front right. The plates are at the front, and the cabinet is also at the center."}
+{"scene_index": 17, "scene": "Plates are on the right bowls are in front of the table specifically front-right and front-left the bowls and plates are both in front-right the table is at the center."}
+{"scene_index": 18, "scene": "The bowls are located at the front position."}
+{"scene_index": 19, "scene": "The table is at the center, with bowls positioned in various locations including the front right (two), left, front, front left, and right, while the plates are located on the left and right."}
+{"scene_index": 20, "scene": "The plates are positioned on the right side."}
+{"scene_index": 21, "scene": "The plates are placed on top of the cabinet at the front."}
+{"scene_index": 22, "scene": "The plates are positioned at the center and front right, while the table is at the center."}
+{"scene_index": 23, "scene": "All three bowls are positioned at the front."}
+{"scene_index": 24, "scene": "The bowls, plates, and cabinet are all positioned at the front, while the table is on the right."}
+{"scene_index": 25, "scene": "The bowls and plates are arranged on the left side with some positioned towards the front left."}
+{"scene_index": 26, "scene": "The bowls are at the front, and so are the plates."}
+{"scene_index": 27, "scene": "bowls are on the right the table is at the center plates are in the front right"}
+{"scene_index": 28, "scene": "Each bowl is positioned at the front."}
+{"scene_index": 29, "scene": "The bowls and plates are positioned at the front."}
+{"scene_index": 30, "scene": "The table is at the center, with plates also centered on it; bowls are positioned in front of the table, one at the front and another at the front right."}
+{"scene_index": 31, "scene": "The bowls are positioned at the front right location."}
+{"scene_index": 32, "scene": "Plates Front and front right Bowls plates Front front left and front right Table Center Bowls Front right"}
+{"scene_index": 33, "scene": "The bowls are centered on the table, with plates located at the front right of the table."}
+{"scene_index": 34, "scene": "The plates are at the center and front right. The table is at the center. The cabinet is in front."}
+{"scene_index": 35, "scene": "The bowls are positioned at the front, with some located specifically in the front right area."}
+{"scene_index": 36, "scene": "Bowl is on the right, table is at the center, and plates are located in the front left, front, front right, and front right positions."}
+{"scene_index": 37, "scene": "The bowls and table are centered, while the plates are positioned in the front right."}
+{"scene_index": 38, "scene": "The bowls and table are both positioned at the center."}
+{"scene_index": 39, "scene": "Each bowl is positioned at the front, similar to the plates which are also at the front."}
+{"scene_index": 40, "scene": "Each bowl is positioned at the front."}
+{"scene_index": 41, "scene": "The bowls are in front, the table is on the right, another set of bowls is also in front, the cabinet is in front, and the plates are in front."}
+{"scene_index": 42, "scene": "The bowls are at the front right, the cabinet is in the center, and there s another cabinet also at the front right."}
+{"scene_index": 43, "scene": "The plates are positioned at the front, bowls plates are located at the front right and front left, with one additional bowl plate at the front. The table is centrally placed."}
+{"scene_index": 44, "scene": "The bowls are positioned in the front area, with two of them located specifically at the front right, while the cabinet is centrally placed."}
+{"scene_index": 45, "scene": "The bowls are placed on the table, which is situated at the front right, next to the cabinet also located in the same front right area."}
+{"scene_index": 46, "scene": "The table is at the center plates are on the right bowls are in front with some specifically noted as front right and front left."}
+{"scene_index": 47, "scene": "The bowls are all positioned in the front area, with three of them specifically located in the front right section."}
+{"scene_index": 48, "scene": "The table is at the center, and there are plates also at the center. There are bowls in the front right, another bowl in the front right, a bowl in the front left, and one more bowl near the front but not specified as left or right."}
+{"scene_index": 49, "scene": "The plates are at the center, the table is also in the center, while bowls are placed on both the front left and front right sides."}
+{"scene_index": 50, "scene": "The plates and table are at the center, while the bowls are positioned in front and front-right."}
+{"scene_index": 51, "scene": "The bowls are positioned in the front and front left, while the plates are also in the front."}
+{"scene_index": 52, "scene": "Plates are on the right side, with plates located at both the front right and the back right positions, while the cabinet is also positioned on the right."}
+{"scene_index": 53, "scene": "The bowls are in front positions, with plates also in front positions."}
+{"scene_index": 54, "scene": "The bowls are all positioned at the front."}
+{"scene_index": 55, "scene": "The bowls are positioned in the front area, with two of them specifically placed in the front right section, while the cabinet is centrally located."}
+{"scene_index": 56, "scene": "The bowls are at the front, the plates are also at the front, the table is on the right, and both the cabinet and another set of bowls are positioned in front."}
+{"scene_index": 57, "scene": "Each bowl is positioned at the front."}
+{"scene_index": 58, "scene": "The bowls are located at the front, with two specific bowls positioned at the front left, while the plates are also placed at the front."}
+{"scene_index": 59, "scene": "The bowls are positioned in the front-right area."}
+{"scene_index": 60, "scene": "Each bowl is positioned in front, with three of them specifically located at front left, while the plate is also positioned in front."}
+{"scene_index": 61, "scene": "The bowls are positioned at the front-right location."}
+{"scene_index": 62, "scene": "The bowls are in the front position, while the plates are positioned at the front right."}
+{"scene_index": 63, "scene": "Each bowl is positioned at the front."}
+{"scene_index": 64, "scene": "bowls are positioned at the front plates are positioned at the front left bowls are positioned at the front plates are positioned at the front right table is positioned to the right plates are positioned at the front right"}
+{"scene_index": 65, "scene": "The bowls are positioned at the front right and front left of the table, while the plates are centered on the table."}
+{"scene_index": 66, "scene": "The bowls are positioned at the front, as are the cabinet."}
+{"scene_index": 67, "scene": "The bowls are at the front, the table is on the right, the plates are at the front right."}
+{"scene_index": 68, "scene": "The plates are positioned at the front right, while the cabinet is located at the front, ahead of the plates."}
+{"scene_index": 69, "scene": "The bowls are positioned at the front."}
+{"scene_index": 70, "scene": "The bowls are positioned at the front, with three of them located in the front-left area, and the plates are also placed at the front."}
+{"scene_index": 71, "scene": "The bowls are all positioned at the front."}
+{"scene_index": 72, "scene": "Bowls are in the center, front right, front, and front left positions, plates are in the front right and center positions, and the table is at the center position."}
+{"scene_index": 73, "scene": "Each bowl is positioned in the front area, with three bowls specifically located in the front right section."}
+{"scene_index": 74, "scene": "The plates are positioned at the front, with one specifically placed in the front right area, while the cabinet is also located at the front."}
+{"scene_index": 75, "scene": "The plates are located on the front, and the cabinet is also positioned at the front, indicating that both objects share the same spatial orientation relative to each other."}
+{"scene_index": 76, "scene": "bowls position front bowls position front right bowls position front right cabinet position center"}
+{"scene_index": 77, "scene": "Plates are positioned at the center and front right, The cabinet is located at the front and center, The table is placed at the center."}
+{"scene_index": 78, "scene": "The plates are positioned at the front, along with two cabinets also located at the front."}
+{"scene_index": 79, "scene": "The table is at the center. The plates are on the left. The bowls are in front left and front right, with some overlapping positions."}
+{"scene_index": 80, "scene": "The table is at the center, with a bowl and plates also centered. There are bowls and plates in the front right, along with a cabinet in the center."}
+{"scene_index": 81, "scene": "The plates are at the center, the bowls are at the front right, and the table is also at the center."}
+{"scene_index": 82, "scene": "The bowls are positioned at the front, along with the plates which are also at the front."}
+{"scene_index": 83, "scene": "The bowls are positioned to the right, front, and front left; there is a bowl also at the front right. The table is at the center, and the cabinet is on the right."}
+{"scene_index": 84, "scene": "The plates are in front of each other, with one positioned at the front and the other slightly to the right. The table is at the center, supporting all objects, while the cabinet stands centrally as well."}
+{"scene_index": 85, "scene": "The bowls are positioned to the right, while the table is centrally located."}
+{"scene_index": 86, "scene": "On the table, at the center is a bowl. In the front, there are bowls positioned on the front left and front right. Additionally, plates are located in the front area."}
+{"scene_index": 87, "scene": "The plates are centered on the table and positioned at the front right. The bowls are placed in front of the table on both sides."}
+{"scene_index": 88, "scene": "Each bowl is positioned in front, and each plate is also positioned in front."}
+{"scene_index": 89, "scene": "The bowls and cabinet are both located at the front right position."}
+{"scene_index": 90, "scene": "The bowls are positioned at the front, the cabinet is centered, and another cabinet is also at the front."}
+{"scene_index": 91, "scene": "The bowls are located at the front right, while the cabinet is positioned to the right."}
+{"scene_index": 92, "scene": "The bowls are positioned in the front and front left, while the plates are located at the front right and front."}
+{"scene_index": 93, "scene": "The plates are located at the center and front right positions, while the table is centered."}
+{"scene_index": 94, "scene": "The plates are positioned at the front and front right, while the cabinet is also located at the front."}

R1_Lite_take_and_put_the_bowl/annotations/subtask_annotations.jsonl

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+{"subtask_index": 1, "subtask": "Put it back into the cabinet"}
+{"subtask_index": 2, "subtask": "Take the plate from the cabinet"}
+{"subtask_index": 3, "subtask": "Pick up the plate from the table"}
+{"subtask_index": 4, "subtask": "Close the cabinet door"}
+{"subtask_index": 5, "subtask": "Pick up the bowl from the table"}
+{"subtask_index": 6, "subtask": "Take the bowl from the cabinet"}
+{"subtask_index": 7, "subtask": "null"}

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