diff --git a/RMC-AIDA-L_get_water/.gitattributes b/RMC-AIDA-L_get_water/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/RMC-AIDA-L_get_water/.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/RMC-AIDA-L_get_water/README.md b/RMC-AIDA-L_get_water/README.md new file mode 100644 index 0000000000000000000000000000000000000000..04e98fc6184882dea4ce9d945f0372b0b88975bd --- /dev/null +++ b/RMC-AIDA-L_get_water/README.md @@ -0,0 +1,334 @@ +--- +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 +--- + +# RMC-AIDA-L_get_water + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `realman_rmc_aidal` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `kitchen` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` +- `hold` +- `push` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 333 | +| **Total Frames** | 327536 | +| **Total Tasks** | 3 | +| **Total Videos** | 999 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 2.8GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet. +the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet. +the right gripper pick up the red cup and place it horizontally under the faucet, the left gripper turn on the faucet to fill the cup, and then turn off the faucet. + +### Sub-Tasks +This dataset includes 9 distinct subtasks: + +1. **Move the cup beneath the water dispenser nozzle with the right gripper** +2. **Close the dispenser valve with the right gripper** +3. **Open the dispenser valve and fill the cup with water with the right gripper** +4. **Close the dispenser valve with the left gripper** +5. **Open the dispenser valve and fill the cup with water with the left gripper** +6. **end** +7. **Move the cup beneath the water dispenser nozzle with the left gripper** +8. **abnormal** +9. **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 0:332 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.cam_high_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_right_wrist_rgb**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features +- **gripper_open_scale_state**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_open_scale_action**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_mode_state**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_mode_action**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_activity_state**: int32 + - Dimensions: left_gripper_activity, right_gripper_activity + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "realman_rmc_aidal", "total_episodes": 333, "total_frames": 327536, "total_tasks": 3, "total_videos": 999, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:332"}, "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": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [28], "names": ["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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [28], "names": ["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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "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): + +``` +RMC-AIDA-L_get_water_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/RMC-AIDA-L_get_water/annotations/eef_acc_mag_annotation.jsonl b/RMC-AIDA-L_get_water/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/RMC-AIDA-L_get_water/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/RMC-AIDA-L_get_water/annotations/eef_direction_annotation.jsonl b/RMC-AIDA-L_get_water/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/RMC-AIDA-L_get_water/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/RMC-AIDA-L_get_water/annotations/eef_velocity_annotation.jsonl b/RMC-AIDA-L_get_water/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/RMC-AIDA-L_get_water/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/RMC-AIDA-L_get_water/annotations/gripper_activity_annotation.jsonl b/RMC-AIDA-L_get_water/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/RMC-AIDA-L_get_water/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/RMC-AIDA-L_get_water/annotations/gripper_mode_annotation.jsonl b/RMC-AIDA-L_get_water/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/RMC-AIDA-L_get_water/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/RMC-AIDA-L_get_water/annotations/scene_annotations.jsonl b/RMC-AIDA-L_get_water/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebab30269e8dc632f090b448d6b1575681a395f2 --- /dev/null +++ b/RMC-AIDA-L_get_water/annotations/scene_annotations.jsonl @@ -0,0 +1,334 @@ +{"scene_index": 0, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 1, "scene": "The cup is located at the back-right position, while the tap is situated at the front position."} +{"scene_index": 2, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 3, "scene": "The cup is on the left, while the tap is located at the front-right position."} +{"scene_index": 4, "scene": "The cup is located at the back left, the tap is at the front, and another cup is also at the front."} +{"scene_index": 5, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 6, "scene": "The cup is located at the back left, while the other cup is situated at the front right."} +{"scene_index": 7, "scene": "The cup on the left is positioned to the left, while the two cups and the tap are all located at the front right."} +{"scene_index": 8, "scene": "The tap is at the center, the cup is at the back left, and another tap is on the right."} +{"scene_index": 9, "scene": "The cup is at the back left, the tap is at the front, and another cup is at the front right."} +{"scene_index": 10, "scene": "The cup is positioned at the back left, the tap is at the front right, and another cup is also at the front right."} +{"scene_index": 11, "scene": "The cup is on the right, the first tap is in front, and the second tap is also on the right."} +{"scene_index": 12, "scene": "The cup is located at the back right position, while the tap is positioned at the front left."} +{"scene_index": 13, "scene": "There is a cup at the back left, another cup at the front, and a tap at the front right."} +{"scene_index": 14, "scene": "The cup is located at the back right position, while there are two taps positioned at the front and right positions."} +{"scene_index": 15, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 16, "scene": "At the back left is a cup, while in front are two taps and another cup positioned at the front."} +{"scene_index": 17, "scene": "The cup is on the left, and the tap is centered between it and another object."} +{"scene_index": 18, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 19, "scene": "The cup is at the back left, another cup is at the front, and the tap is also at the front."} +{"scene_index": 20, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 21, "scene": "cup is at back right tap is at front tap is at right cup is at front left"} +{"scene_index": 22, "scene": "The cup is on the right and the tap is in front and on the right."} +{"scene_index": 23, "scene": "The cup is located at the back left, while two cups are positioned at the front right and one tap is placed in the front."} +{"scene_index": 24, "scene": "The tap is located at the front, while the cup is situated to the left."} +{"scene_index": 25, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 26, "scene": "The cup is on the left, and the tap is located at the front-right position."} +{"scene_index": 27, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 28, "scene": "The cup is on the left, the tap is centered between them."} +{"scene_index": 29, "scene": "The tap is at the front, and the cup is located at the back right."} +{"scene_index": 30, "scene": "The cup is located at the back left, the tap is in the front right, and another cup is positioned at the front."} +{"scene_index": 31, "scene": "The cup is positioned on the left side, while the tap is located on the right side."} +{"scene_index": 32, "scene": "The cup is located at the back left position, while the tap is situated on the right side."} +{"scene_index": 33, "scene": "The cup is positioned at the back left, while the tap is located in the center."} +{"scene_index": 34, "scene": "The cup is on the left, and there are two taps located in the front-right area."} +{"scene_index": 35, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 36, "scene": "The cup is at the back left, the tap is at the front, and another cup is at the front right."} +{"scene_index": 37, "scene": "The cup is located at the back right, while the tap is positioned at the front."} +{"scene_index": 38, "scene": "The cup is located at the back left, while the tap is positioned at the front right, with another cup placed in front."} +{"scene_index": 39, "scene": "The cup is located at the back right position, while the tap is situated at the front position."} +{"scene_index": 40, "scene": "The cup is located at the back-left position, while the tap is positioned on the right side."} +{"scene_index": 41, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 42, "scene": "The tap is at the front, and the cup is located at the back left."} +{"scene_index": 43, "scene": "The cup is located at the back right position, while the tap is positioned in the front area."} +{"scene_index": 44, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 45, "scene": "The cup is at the back left. The tap is at the front right. The tap is at the front. The cup is at the front."} +{"scene_index": 46, "scene": "The cup is located at the back right, while the tap is positioned in front on the right side."} +{"scene_index": 47, "scene": "The cup is on the left, the tap is in front and to the right."} +{"scene_index": 48, "scene": "The cup is on the right side, the tap is in front and also on the right side."} +{"scene_index": 49, "scene": "The cup is on the left, the tap is centered."} +{"scene_index": 50, "scene": "The cup is on the right, the first tap is in front, and the second tap is also on the right."} +{"scene_index": 51, "scene": "The cup is positioned at the back left, while the tap is located centrally."} +{"scene_index": 52, "scene": "The cup is positioned on the left side, while the tap is located to the right side."} +{"scene_index": 53, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 54, "scene": "The cup is on the left, and the tap is in front."} +{"scene_index": 55, "scene": "Cup is on the left, first tap is on the right, second tap is in front and to the left."} +{"scene_index": 56, "scene": "The cup is located at the back left position, while the tap is situated at the front right position."} +{"scene_index": 57, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 58, "scene": "cup is at back right tap is at front and right"} +{"scene_index": 59, "scene": "The cup is at the back, while the tap is located at the front left."} +{"scene_index": 60, "scene": "The cup is at the back left, the tap is at the center, and another cup is at the front right."} +{"scene_index": 61, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 62, "scene": "The cup is positioned at the back right, while both taps are located at the front."} +{"scene_index": 63, "scene": "The cup is on the right, with two taps in frontβ€”one also on the rightβ€”and another tap in front-left."} +{"scene_index": 64, "scene": "The cup is located at the back left, while the tap is placed in the front right area, with another cup positioned in the front."} +{"scene_index": 65, "scene": "Cup is on the left, taps are located at both the right and front right positions."} +{"scene_index": 66, "scene": "Cup is at back left, tap is at front right, cup is at front right."} +{"scene_index": 67, "scene": "The cup is positioned at the back left."} +{"scene_index": 68, "scene": "The tap is located at the front right, while the cup is positioned at the back left."} +{"scene_index": 69, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 70, "scene": "The cup is at the back left, the tap is at the front, and another cup is also at the front."} +{"scene_index": 71, "scene": "The cup is located at the back right position, while two taps are situated respectively at the front and back right positions."} +{"scene_index": 72, "scene": "Cup is located at back right and tap is located at front right"} +{"scene_index": 73, "scene": "The cup is on the right, while the taps are both positioned in front and front right."} +{"scene_index": 74, "scene": "The cup is located at the back left, while two taps are positioned on the front right and the right side respectively."} +{"scene_index": 75, "scene": "The cup is located at the back left, while the taps are positioned at the front and front right."} +{"scene_index": 76, "scene": "The cup is located at the back left position, while the tap is situated at the front position."} +{"scene_index": 77, "scene": "The cup is located at the back left, while the tap is positioned in front."} +{"scene_index": 78, "scene": "The cup is on the left side, while the tap is located at the front-right position."} +{"scene_index": 79, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 80, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 81, "scene": "The cup is located at the back left, while two taps are positioned in the center and on the right."} +{"scene_index": 82, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 83, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 84, "scene": "The cup on the left is positioned to the left side, while the tap is located at the front-right, near which another cup is placed."} +{"scene_index": 85, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 86, "scene": "The cup is located at the back right, while the three taps are positioned in the front, with one specifically at the front right."} +{"scene_index": 87, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 88, "scene": "The cup is located at the back left, while two taps are both positioned at the front right."} +{"scene_index": 89, "scene": "The cup is positioned at the back left, the tap is in front, and another cup is located at the front right."} +{"scene_index": 90, "scene": "The cup is located at the back right position, while there are taps positioned on the right, front, and left sides."} +{"scene_index": 91, "scene": "The cup is on the right, with four taps positioned in the following locations: front, back left, and right."} +{"scene_index": 92, "scene": "The cup is on the left, the tap is at the front right, and another cup is positioned at the back left."} +{"scene_index": 93, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 94, "scene": "The cup is located at the back left, while the tap is positioned at the front right."} +{"scene_index": 95, "scene": "The cup is positioned at the back right, while the taps are located in front, specifically to the right and left sides."} +{"scene_index": 96, "scene": "The cup is located at the back left position, while both taps are situated at the front position."} +{"scene_index": 97, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 98, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 99, "scene": "The cup is on the right, with taps positioned in front, right, and left."} +{"scene_index": 100, "scene": "The cup is on the left, there is a tap also on the left, and another tap is located at the front right."} +{"scene_index": 101, "scene": "The tap is located at front right, while the cup is positioned to the left."} +{"scene_index": 102, "scene": "The first cup is located at the back left, the tap is positioned at the front, and the second cup is placed at the front right."} +{"scene_index": 103, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 104, "scene": "The cup is located at the back left position, while the tap is situated at the front position."} +{"scene_index": 105, "scene": "The cup is positioned at the back left, while two taps are located in front, one on the front left and another on the front right."} +{"scene_index": 106, "scene": "The cup is at the back left, there s a tap in the center, and another tap at the front."} +{"scene_index": 107, "scene": "The cup is located at the back left, while the tap is situated at the front."} +{"scene_index": 108, "scene": "The cup is on the left, the taps are both at the front, with one located slightly to the right."} +{"scene_index": 109, "scene": "The cup is positioned to the right, and the tap is located at the front."} +{"scene_index": 110, "scene": "The cup is located at the back left, while the tap is positioned in front."} +{"scene_index": 111, "scene": "The cup is located at the back left, while the tap is positioned in front."} +{"scene_index": 112, "scene": "The cup is located at the back left, while the tap is positioned at the front."} +{"scene_index": 113, "scene": "The cup is on the left, while both taps are positioned to the right."} +{"scene_index": 114, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 115, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 116, "scene": "The cup is on the right, and the tap is in front."} +{"scene_index": 117, "scene": "A cup is located at the back left, a tap is in the center, and another cup is placed at the front right."} +{"scene_index": 118, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 119, "scene": "The cup is on the left. The tap is at the front. Another cup is at the front."} +{"scene_index": 120, "scene": "The cup is positioned at back left, while the tap is located in front, and there s another cup placed in front as well."} +{"scene_index": 121, "scene": "The cup is located at the back left, while the tap is positioned at the front."} +{"scene_index": 122, "scene": "The cup is on the right side, and the tap is located at the front."} +{"scene_index": 123, "scene": "The tap is positioned at the front, while the cup is located towards the back on the left side."} +{"scene_index": 124, "scene": "The cup at back left is separate from the two cups and two taps all positioned at front."} +{"scene_index": 125, "scene": "The cup is located at the back left, while the tap is positioned in front, and there s another cup placed at the front."} +{"scene_index": 126, "scene": "The cup is at the back right, the tap is at the front, and another cup is at the front left."} +{"scene_index": 127, "scene": "Cup is at the back left, two taps are on the right and front right."} +{"scene_index": 128, "scene": "The cup is located at the back left, the tap is at the front, and another cup is also at the front."} +{"scene_index": 129, "scene": "The cup is located at the back-left position, while the tap is positioned on the right side."} +{"scene_index": 130, "scene": "The cup is located at the back left position, while the tap is positioned at the front right."} +{"scene_index": 131, "scene": "The cup on the left is positioned to the left, the tap is at the front, and the second cup is located in the front right."} +{"scene_index": 132, "scene": "The cup is at the back left, the tap is at the front, and another cup is also at the front."} +{"scene_index": 133, "scene": "The cup at the back left is opposite to the cup at the front right, with the tap located in front."} +{"scene_index": 134, "scene": "The cup is located at the back right, while the taps are situated at the front and front right positions."} +{"scene_index": 135, "scene": "The cup is located at the back left position, while the tap is situated on the right side."} +{"scene_index": 136, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 137, "scene": "The cup is on the right side, the tap is also on the right side, but there s another tap in front of it."} +{"scene_index": 138, "scene": "The cup is positioned at the back left, while the two taps are both located at the front right."} +{"scene_index": 139, "scene": "The tap is located at the front, a cup is positioned to the left, and another cup is situated at the front right."} +{"scene_index": 140, "scene": "The cup is located at the back left, while the tap is situated at the front."} +{"scene_index": 141, "scene": "The cup is positioned at the back left, while there are two taps located in the front area."} +{"scene_index": 142, "scene": "The cup is positioned on the left side, while the tap is located to the right side."} +{"scene_index": 143, "scene": "The cup is located at the back left, while both taps are positioned at the front right."} +{"scene_index": 144, "scene": "The cup is positioned at the back left, while the tap is located at the center."} +{"scene_index": 145, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 146, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 147, "scene": "The cup is located at the back left position, while the tap is situated at the front position."} +{"scene_index": 148, "scene": "The cup is on the left, there s a tap in front right, another tap on the left, and another cup at the back left."} +{"scene_index": 149, "scene": "Cup is on the right, two taps are both at the front."} +{"scene_index": 150, "scene": "The cup is located at the back right, while both taps are positioned at the front right and front, respectively."} +{"scene_index": 151, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 152, "scene": "The cup is located at the back left, while the tap is positioned at the front right."} +{"scene_index": 153, "scene": "The cup is located at the back right, while two taps are positioned at front left and front right respectively."} +{"scene_index": 154, "scene": "The cup is located at the back left position, while the two taps are situated at the front right and right positions respectively."} +{"scene_index": 155, "scene": "The cup is positioned at back left, while the tap is located in front, and there s another cup placed in front as well."} +{"scene_index": 156, "scene": "The cup is located at the back-left position, while the tap is positioned on the right side."} +{"scene_index": 157, "scene": "The cup is on the right side, and the tap is located in front."} +{"scene_index": 158, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 159, "scene": "The cup is positioned at the back left, the tap is in front, and another cup is located at the front right."} +{"scene_index": 160, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 161, "scene": "Cup is located at the back left, with a tap positioned on the right and another tap positioned at the front right."} +{"scene_index": 162, "scene": "The cup is positioned at back left, the tap is positioned at front right, the cup is positioned at front, the tap is positioned at front"} +{"scene_index": 163, "scene": "The cup is on the right, the first tap is in front, and the second tap is also on the right."} +{"scene_index": 164, "scene": "The cup is positioned at the back right, while the tap is located at the front left, and another tap is situated on the right side."} +{"scene_index": 165, "scene": "cup is on the right side tap is located to the right tap is positioned in front"} +{"scene_index": 166, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 167, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 168, "scene": "The cup is on the left, there is a tap in the center, and another tap is at the front."} +{"scene_index": 169, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 170, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 171, "scene": "The cup is on the right side, there s a tap in front and another tap also on the right."} +{"scene_index": 172, "scene": "The cup is located at the back right position, while the tap is positioned at the front left."} +{"scene_index": 173, "scene": "The cup is positioned at the back left, the tap is in the center, and another cup is located at the front right."} +{"scene_index": 174, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 175, "scene": "There is a cup in the back left position, a tap in the front position, and two cups in the front right position."} +{"scene_index": 176, "scene": "The cup is on the left, and the tap is in front."} +{"scene_index": 177, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 178, "scene": "The cup is positioned at the back left, the tap is located on the right, and another cup is placed in the front right."} +{"scene_index": 179, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 180, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 181, "scene": "The cup is on the left, the tap is at the front, and another cup is in the front right."} +{"scene_index": 182, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 183, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 184, "scene": "The cup is positioned to the left, while the tap is centered between them."} +{"scene_index": 185, "scene": "The tap is located at the front, with two cups positioned at the back left and front right respectively."} +{"scene_index": 186, "scene": "The cup is located at the back left, while there are two taps positioned on the right and front right."} +{"scene_index": 187, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 188, "scene": "The cup is on the left, and the tap is in front."} +{"scene_index": 189, "scene": "The cup is located at the back right, while the tap is positioned at the front; another cup is placed in the front left, and there s a tap situated on the right side."} +{"scene_index": 190, "scene": "There is a cup on the left, a tap in front-right, and three cups in front-right."} +{"scene_index": 191, "scene": "The cup is located at the back right, while the tap is positioned at the front."} +{"scene_index": 192, "scene": "The cup is located at the back right, while the tap is positioned at the front left."} +{"scene_index": 193, "scene": "The cup is located at the back left, while the tap is situated at the front."} +{"scene_index": 194, "scene": "The cup is located at the back left, while both taps are positioned at the front."} +{"scene_index": 195, "scene": "The cup is at the back left, the tap is at the front, another cup is at the front right, and a tap is also located at the left."} +{"scene_index": 196, "scene": "The cup is on the left side, and the tap is located at the front position."} +{"scene_index": 197, "scene": "The cups are positioned at both front and back-left, while the tap is located in the front."} +{"scene_index": 198, "scene": "The cup is located at the back left, while the tap is situated at the front."} +{"scene_index": 199, "scene": "The cup is positioned to the right, while the tap is located at the front."} +{"scene_index": 200, "scene": "The cup is positioned at the back left, while both taps are located at the front right."} +{"scene_index": 201, "scene": "The cup is located at the back left, while both taps are positioned at the front right."} +{"scene_index": 202, "scene": "The cup is on the left side, while the tap is located to the right."} +{"scene_index": 203, "scene": "The cup is located at the back right, while both taps are positioned in the front area, one specifically at the front right."} +{"scene_index": 204, "scene": "The cup is located at the back left, another cup is at the front, and the tap is also positioned in front."} +{"scene_index": 205, "scene": "The cup is located at the back left, while both taps are positioned at the front."} +{"scene_index": 206, "scene": "The cup is located at the back left, while the tap is positioned in front, and there s another cup placed at the front."} +{"scene_index": 207, "scene": "The cup is on the right side, and the tap is located in front."} +{"scene_index": 208, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 209, "scene": "The first cup is located at the back left, the tap is positioned at the front, and the second cup is placed at the front right."} +{"scene_index": 210, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 211, "scene": "Cup is positioned to the right. Tap (1) is positioned at the front. Tap (2) is positioned to the right. Tap (3) is positioned to the left."} +{"scene_index": 212, "scene": "The cup is located at the back left, while both taps are situated at the front right."} +{"scene_index": 213, "scene": "The cup is positioned to the right, and the tap is located at the front."} +{"scene_index": 214, "scene": "The cup is on the left, with two taps positioned to its left, one at front-right and another also at front-right."} +{"scene_index": 215, "scene": "cup is back right and tap is front right."} +{"scene_index": 216, "scene": "The cup is located at the back right, while the tap is positioned at the front."} +{"scene_index": 217, "scene": "The cup is located at the back right, while the tap is positioned at both the front left and the right."} +{"scene_index": 218, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 219, "scene": "The cup is located at the back left, while the tap is positioned at the front."} +{"scene_index": 220, "scene": "The cup is positioned at back right, while the tap is located at right; another cup is placed at front left, and there s a tap situated at front."} +{"scene_index": 221, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 222, "scene": "The cup is located at the back left position, while the tap is situated at the front position."} +{"scene_index": 223, "scene": "The cup is located at the back left, while the tap is positioned at the front."} +{"scene_index": 224, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 225, "scene": "The cup is located at the back right, while the taps are positioned at the front left and front right."} +{"scene_index": 226, "scene": "The cup is positioned at the back left, while the tap is located at the front right."} +{"scene_index": 227, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 228, "scene": "The cup is on the right side, and the tap is located in front."} +{"scene_index": 229, "scene": "The cup is located at the back left, while both taps are positioned in front."} +{"scene_index": 230, "scene": "The cup is located at the back left, while the tap is positioned in front."} +{"scene_index": 231, "scene": "The cup is located at the back left, while the tap is positioned in front."} +{"scene_index": 232, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 233, "scene": "The cup is located at the back right position, while the tap is positioned at the front location."} +{"scene_index": 234, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 235, "scene": "The cup is at the back left, and there s another cup at the front. There s a tap at the front and another tap at the front right."} +{"scene_index": 236, "scene": "Cup is on the right side. Tap is in front back right and back left positions."} +{"scene_index": 237, "scene": "The cup is positioned at the back right, while the taps are located at the front and front right."} +{"scene_index": 238, "scene": "The cup is located at back left, while another cup and two taps are positioned at front."} +{"scene_index": 239, "scene": "Cup is on the left, two taps are both in the front right position."} +{"scene_index": 240, "scene": "The cup is at back right, tap1 is at front, and tap2 is at front right."} +{"scene_index": 241, "scene": "The cup is positioned at back left, while the tap is located in front, and there s another cup placed in front as well."} +{"scene_index": 242, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 243, "scene": "The cup is located at the back left, while the tap is situated at the front."} +{"scene_index": 244, "scene": "The cup is located at the back left. The tap is positioned at the front. Another cup is also at the front."} +{"scene_index": 245, "scene": "The cup is positioned at back right, while both taps are located in the front area, with one specifically placed at front right."} +{"scene_index": 246, "scene": "The cup is positioned at the back left, while the tap is located in the center."} +{"scene_index": 247, "scene": "The cups are positioned at the back left and front right, while the taps are both located in the front."} +{"scene_index": 248, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 249, "scene": "The cup is located at the back right position, while there are two taps positioned at the front and right positions."} +{"scene_index": 250, "scene": "The tap is located at the front, while two cups are positioned at the front right and back left."} +{"scene_index": 251, "scene": "The cup is located on the left side."} +{"scene_index": 252, "scene": "The cup is located at the back left, the tap is in the front, and another cup is positioned at the front right."} +{"scene_index": 253, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 254, "scene": "The cup is located at the back left, while both taps are positioned at the front."} +{"scene_index": 255, "scene": "The cup is located at the back-left position, while the tap is situated at the front-right position."} +{"scene_index": 256, "scene": "The cup is located at the back left. The tap is positioned at the front. Another cup is also at the front."} +{"scene_index": 257, "scene": "The cup is located at the back left, while both taps are positioned at the front right."} +{"scene_index": 258, "scene": "The cup is positioned at back left, while the tap is located in front, and there s another cup placed in front as well."} +{"scene_index": 259, "scene": "The cup is located at the back right, while the tap is positioned at the front."} +{"scene_index": 260, "scene": "The cup is located at the back left, while there is another cup in the front; a tap is also positioned in the front."} +{"scene_index": 261, "scene": "The cup is located at the back left, while the tap is in front, and another cup is also positioned in front."} +{"scene_index": 262, "scene": "The cup is located at the back left, the tap is positioned at the front, and another cup is also at the front."} +{"scene_index": 263, "scene": "The cup is positioned at the back right, while there are three taps located in the front, right, and left positions."} +{"scene_index": 264, "scene": "The first cup is located at the back left. The tap is positioned at the front. The second cup is placed at the front right."} +{"scene_index": 265, "scene": "The first cup is located at the back left The tap is positioned at the front The second cup is placed at the front right"} +{"scene_index": 266, "scene": "The cup is on the left side, the tap is in the center."} +{"scene_index": 267, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 268, "scene": "The cup is located at the back left position, while the tap is positioned on the right side."} +{"scene_index": 269, "scene": "The cup is at the back left, the cup is at the front, the tap is at the front right, and the tap is at the front."} +{"scene_index": 270, "scene": "The cup is on the left, with two taps positioned to its front-right and left sides."} +{"scene_index": 271, "scene": "The cup is on the left side, and the tap is located at the front position."} +{"scene_index": 272, "scene": "The cup is located at the back right position, while there are taps positioned in front, to the right, and to the left."} +{"scene_index": 273, "scene": "The cup is on the right side, and the tap is located in front."} +{"scene_index": 274, "scene": "The cup is located at the back left, while the tap is on the right side, and there s another cup placed in the front right area."} +{"scene_index": 275, "scene": "The cup is on the left side, while the tap is located at the front."} +{"scene_index": 276, "scene": "The cup is positioned at the back left, the tap is in front, and another cup is located at the front right."} +{"scene_index": 277, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 278, "scene": "The cup is located at the back left, while both taps are positioned at the front."} +{"scene_index": 279, "scene": "The cup is on the left, the tap is centered between them."} +{"scene_index": 280, "scene": "Cup is at back left, tap1 is at front right, and tap2 is at front."} +{"scene_index": 281, "scene": "The cup is on the left, the tap is centered between the cup and the sink."} +{"scene_index": 282, "scene": "Cup is on the right taps are positioned at front back left and back right"} +{"scene_index": 283, "scene": "The cup is located at the back left, while the tap is positioned in front. There are two cups placed on the front right side."} +{"scene_index": 284, "scene": "The cup is located at the back-left another cup is situated at the front-right there is a tap positioned at the front-right additionally another tap is also placed at the front-right"} +{"scene_index": 285, "scene": "The cup is on the right, while there are two taps located in front and front-right positions."} +{"scene_index": 286, "scene": "The cup is positioned at the back right, while the tap is located at the front."} +{"scene_index": 287, "scene": "The cup is on the left, and the tap is on the right."} +{"scene_index": 288, "scene": "The cup is located at the back left, while the tap is positioned at the front."} +{"scene_index": 289, "scene": "There is a cup located at the back left, while in the front right there is a tap and another cup."} +{"scene_index": 290, "scene": "The cup is located at the back right position, while both taps are positioned in the front and front right areas."} +{"scene_index": 291, "scene": "The cup is on the left, and the tap is at the front-right."} +{"scene_index": 292, "scene": "The cup is at back right, the tap is at front, and the tap is at front right."} +{"scene_index": 293, "scene": "The cup is located at the back left, while the tap is positioned on the right side."} +{"scene_index": 294, "scene": "The cup is located at the back left position, while the tap is situated on the right side."} +{"scene_index": 295, "scene": "The cup is located at back left, the tap is located at right, and the cup is located at front right."} +{"scene_index": 296, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 297, "scene": "The tap is positioned at the front, while the cup is located at the back."} +{"scene_index": 298, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 299, "scene": "The cup is located at the back left, the tap is at the front, and another cup is positioned at the front right."} +{"scene_index": 300, "scene": "The cup is located at the back left position, while the tap is positioned at the front right."} +{"scene_index": 301, "scene": "The cup is located at the back left, the tap is at the front, and another cup is also at the front."} +{"scene_index": 302, "scene": "The cup is located at the back left position."} +{"scene_index": 303, "scene": "The cup is located at the back right, while the two taps are both positioned in front."} +{"scene_index": 304, "scene": "The cup is at the back left, the tap is at the front, and another cup is at the front right."} +{"scene_index": 305, "scene": "The cup is located at the back left. The tap is positioned at the front. Another cup is also at the front."} +{"scene_index": 306, "scene": "In the arrangement, there are two cups positioned at the front left and back right, while three taps are located at the front, front right, and front left."} +{"scene_index": 307, "scene": "The cup is located at the back right, while the taps are positioned at the front, front right, and front."} +{"scene_index": 308, "scene": "The cup is located at the back left position, while the tap is situated on the right side."} +{"scene_index": 309, "scene": "The cup is on the right side, and there are five taps positioned in different locations around it."} +{"scene_index": 310, "scene": "The cup is located at the back left position, while the tap is positioned at the front."} +{"scene_index": 311, "scene": "The cup is located at the back right, while two taps are positioned one in front and another to the right of it."} +{"scene_index": 312, "scene": "The cup is located at the back-left position, while the tap is positioned on the right."} +{"scene_index": 313, "scene": "The cup is on the left side, and the tap is on the right side."} +{"scene_index": 314, "scene": "A cup is positioned at the back left, another cup is at the front right, and a tap is located on the right side."} +{"scene_index": 315, "scene": "The cup is on the right. The tap is at the front. The tap is at the front right."} +{"scene_index": 316, "scene": "The cup is on the right, there s a tap in front, and another tap is also on the right."} +{"scene_index": 317, "scene": "The cup is located at the back left position, while both taps are situated at the front position."} +{"scene_index": 318, "scene": "The cup is located at the back-left position, while the tap is situated to the right."} +{"scene_index": 319, "scene": "The tap is positioned at the front, with two cupsβ€”one located to the left and another at the front rightβ€”placed nearby."} +{"scene_index": 320, "scene": "The cup is located at the back right position, while the tap is situated at the front position."} +{"scene_index": 321, "scene": "The cup is located at the back left, while both taps are positioned at the front."} +{"scene_index": 322, "scene": "The cup is on the left side, there are two taps located at the front right and the left side."} +{"scene_index": 323, "scene": "The cup is located at the back right, while there is a tap positioned in front and another tap also at the back right."} +{"scene_index": 324, "scene": "The cup is located at the back left position, while the tap is positioned in the center."} +{"scene_index": 325, "scene": "The cup is on the right side, and the tap is located in front."} +{"scene_index": 326, "scene": "The cup is located at the back right position, while the tap is positioned in the front area."} +{"scene_index": 327, "scene": "The cup is located at the back right, and there are two taps: one is in the front left, and the other is on the right."} +{"scene_index": 328, "scene": "The cup is located at the back left, while both taps are positioned at the front right."} +{"scene_index": 329, "scene": "The cup is on the left side, the tap is also on the left side, and the tap is in front and to the right."} +{"scene_index": 330, "scene": "The cup is located at the back right, while there are two taps positioned at the front left and front right."} +{"scene_index": 331, "scene": "The cup is located at the back left position, while the tap is situated on the right side."} +{"scene_index": 332, "scene": "The first cup is located at the back left. The tap is positioned at the front. The second cup is placed at the front right."} +{"scene_index": 333, "scene": "The cup is located at the back-right position, while the tap is situated at the front position."} diff --git a/RMC-AIDA-L_get_water/annotations/subtask_annotations.jsonl b/RMC-AIDA-L_get_water/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4ea9d2f3be7f01fc9359ea629cb38c51aea1128 --- /dev/null +++ b/RMC-AIDA-L_get_water/annotations/subtask_annotations.jsonl @@ -0,0 +1,9 @@ +{"subtask_index": 0, "subtask": "Move the cup beneath the water dispenser nozzle with the right gripper"} +{"subtask_index": 1, "subtask": "Close the dispenser valve with the right gripper"} +{"subtask_index": 2, "subtask": "Open the dispenser valve and fill the cup with water with the right gripper"} +{"subtask_index": 3, "subtask": "Close the dispenser valve with the left gripper"} +{"subtask_index": 4, "subtask": "Open the dispenser valve and fill the cup with water with the left gripper"} +{"subtask_index": 5, "subtask": "end"} +{"subtask_index": 6, "subtask": "Move the cup beneath the water dispenser nozzle with the left gripper"} +{"subtask_index": 7, "subtask": "abnormal"} +{"subtask_index": 8, "subtask": "null"} diff --git a/RMC-AIDA-L_get_water/annotations/subtasks.jsonl b/RMC-AIDA-L_get_water/annotations/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fb63c0690a0b2330fdd186723af58c7cb2de495 --- /dev/null +++ b/RMC-AIDA-L_get_water/annotations/subtasks.jsonl @@ -0,0 +1,9 @@ +{"subtask_index": 0, "subtask": "end"} +{"subtask_index": 1, "subtask": "Move the cup beneath the water dispenser nozzle with the left gripper"} +{"subtask_index": 2, "subtask": "Open the dispenser valve and fill the cup with water with the left gripper"} +{"subtask_index": 3, "subtask": "Close the dispenser valve with the left gripper"} +{"subtask_index": 4, "subtask": "Open the dispenser valve and fill the cup with water with the right gripper"} +{"subtask_index": 5, "subtask": "Move the cup beneath the water dispenser nozzle with the right gripper"} +{"subtask_index": 6, "subtask": "Close the dispenser valve with the right gripper"} +{"subtask_index": 7, "subtask": "abnormal"} +{"subtask_index": 8, "subtask": "null"} diff --git a/RMC-AIDA-L_get_water/data/chunk-000/episode_000000.parquet b/RMC-AIDA-L_get_water/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..72d1fa47a21cf76baf0a568348a322696cf46ef5 --- /dev/null +++ b/RMC-AIDA-L_get_water/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd3d1b5440b9be75d4cd957cea098a463923e0db2578d3ab39f8e2c2a1947609 +size 364974 diff --git a/RMC-AIDA-L_get_water/data/chunk-000/episode_000001.parquet b/RMC-AIDA-L_get_water/data/chunk-000/episode_000001.parquet new file mode 100644 index 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0000000000000000000000000000000000000000..8237c5563dab5f1247fb0447df5b9e2296455db8 --- /dev/null +++ b/RMC-AIDA-L_get_water/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3554e9c6c1d704a97e6cb7bb6e95fab3d4f821c16c4fd945bee1f2322591ad91 +size 391131 diff --git a/RMC-AIDA-L_get_water/data/chunk-000/episode_000004.parquet b/RMC-AIDA-L_get_water/data/chunk-000/episode_000004.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ed5d5cf6524fa423605866fceb69a70c281cbbe9 --- /dev/null +++ b/RMC-AIDA-L_get_water/data/chunk-000/episode_000004.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a31044a78b039d8578e2e1050d149b671b3d0a53ba0d3fcad064511aa0a47b2e +size 317366 diff --git a/RMC-AIDA-L_get_water/data/chunk-000/episode_000005.parquet b/RMC-AIDA-L_get_water/data/chunk-000/episode_000005.parquet new file mode 100644 index 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horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 777} +{"episode_index": 114, "tasks": ["the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 773} +{"episode_index": 115, "tasks": ["the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 646} +{"episode_index": 116, "tasks": ["the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 683} +{"episode_index": 117, "tasks": ["the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], 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gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 839} +{"episode_index": 132, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 793} +{"episode_index": 133, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 840} +{"episode_index": 134, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 635} +{"episode_index": 135, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 863} +{"episode_index": 136, "tasks": 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cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 973} +{"episode_index": 146, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1591} +{"episode_index": 147, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1300} +{"episode_index": 148, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 932} +{"episode_index": 149, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1708} +{"episode_index": 150, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1111} +{"episode_index": 151, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1484} +{"episode_index": 152, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 856} +{"episode_index": 153, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1195} +{"episode_index": 154, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1015} +{"episode_index": 155, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1133} +{"episode_index": 156, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 955} +{"episode_index": 157, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 921} +{"episode_index": 158, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1038} 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gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1153} +{"episode_index": 164, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1146} +{"episode_index": 165, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 932} +{"episode_index": 166, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 814} +{"episode_index": 167, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 786} +{"episode_index": 168, "tasks": 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the cup, and then turn off the faucet."], "length": 857} +{"episode_index": 173, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 920} +{"episode_index": 174, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1006} +{"episode_index": 175, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 865} +{"episode_index": 176, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 901} +{"episode_index": 177, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 877} +{"episode_index": 178, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 749} +{"episode_index": 179, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 822} +{"episode_index": 180, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 948} +{"episode_index": 181, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 808} +{"episode_index": 182, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 863} +{"episode_index": 183, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 851} +{"episode_index": 184, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 862} +{"episode_index": 185, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 879} +{"episode_index": 186, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 864} +{"episode_index": 187, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 952} +{"episode_index": 188, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 942} +{"episode_index": 189, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 996} +{"episode_index": 190, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1111} 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gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 721} +{"episode_index": 196, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 692} +{"episode_index": 197, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 748} +{"episode_index": 198, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 871} +{"episode_index": 199, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 928} +{"episode_index": 200, "tasks": 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fill the cup, and then turn off the faucet."], "length": 908} +{"episode_index": 205, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1114} +{"episode_index": 206, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1116} +{"episode_index": 207, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1049} +{"episode_index": 208, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1112} +{"episode_index": 209, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 926} +{"episode_index": 210, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1074} +{"episode_index": 211, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1340} +{"episode_index": 212, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1122} +{"episode_index": 213, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1002} +{"episode_index": 214, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1179} +{"episode_index": 215, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1073} +{"episode_index": 216, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1173} +{"episode_index": 217, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1092} +{"episode_index": 218, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1191} +{"episode_index": 219, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1378} +{"episode_index": 220, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1059} +{"episode_index": 221, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], "length": 1260} +{"episode_index": 222, "tasks": ["the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet."], 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