Copy R1_Lite_move_the_position_of_the_peeler into RoboCOIN_useable

R1_Lite_move_the_position_of_the_peeler/.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_move_the_position_of_the_peeler/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_peeler
+
+## 📋 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:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 43 |
+| **Total Frames** | 10477 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 172 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 369.6MB |
+
+
+## 👥 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 the peeler the designated position.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Grasp the peeler with right gripper** 
+2. **Static** 
+3. **Grasp the peeler with left gripper** 
+4. **End** 
+5. **Place the peeler on the table with right gripper** 
+6. **Place the peeler on the table with left gripper** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 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 0:42
+
+
+## 📁 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_left_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_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": 43, "total_frames": 10477, "total_tasks": 1, "total_videos": 172, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:42"}, "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_left_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_high_right_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": [16], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [18], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "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_move_the_position_of_the_peeler_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_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_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_move_the_position_of_the_peeler/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_move_the_position_of_the_peeler/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_move_the_position_of_the_peeler/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_move_the_position_of_the_peeler/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_move_the_position_of_the_peeler/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_move_the_position_of_the_peeler/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The white table is positioned at the back."}
+{"scene_index": 1, "scene": "The white table is positioned at the back."}
+{"scene_index": 2, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 3, "scene": "The white table is positioned at the back."}
+{"scene_index": 4, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 5, "scene": "The white table is positioned at the back."}
+{"scene_index": 6, "scene": "The white table is positioned at the back."}
+{"scene_index": 7, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 8, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 9, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 10, "scene": "The white table is located at the back."}
+{"scene_index": 11, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 12, "scene": "The two white tables are both positioned at the back, with one located to the right."}
+{"scene_index": 13, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 14, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 15, "scene": "The white table is located at the back, while the eraser is positioned on the back left."}
+{"scene_index": 16, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 17, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 18, "scene": "The white table is positioned at the back, as is the peeler."}
+{"scene_index": 19, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 20, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 21, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 22, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 23, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 24, "scene": "The White Table's position is back, the White Table's position is right, and ER's position is back."}
+{"scene_index": 25, "scene": "The white table is located at the back, while the peeler is positioned on the back left side of the table."}
+{"scene_index": 26, "scene": "The white table is positioned at the back."}
+{"scene_index": 27, "scene": "The white table is positioned at the back, and the peeler is also located at the back, maintaining a similar positional relationship as the white table."}
+{"scene_index": 28, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 29, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 30, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 31, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 32, "scene": "The white table is at the back, while the other table is on the right."}
+{"scene_index": 33, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 34, "scene": "The white table is positioned at the back, while another white table is on the right, both near a peeler also placed at the back."}
+{"scene_index": 35, "scene": "The white tables are positioned at the back and right sides, with the peeler located in the back-right corner."}
+{"scene_index": 36, "scene": "The white table is located at the back position, positioned at the back along with the other item, also placed at the back."}
+{"scene_index": 37, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 38, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 39, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 40, "scene": "The white table is positioned at the back."}
+{"scene_index": 41, "scene": "The white table is located at the back, and the peeler is also positioned at the back."}
+{"scene_index": 42, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 43, "scene": "White Table 1 is located at the back. White Table 2 is located on the right side. er is positioned at the back."}
+{"scene_index": 44, "scene": "The white tables are positioned at both the back and the right, while the peeler is also located at the back."}
+{"scene_index": 45, "scene": "The white table is located at the back."}
+{"scene_index": 46, "scene": "The white table is at the back, while the other table is on the right."}
+{"scene_index": 47, "scene": "The white table is located at the back."}
+{"scene_index": 48, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 49, "scene": "The white table is positioned at the back."}
+{"scene_index": 50, "scene": "The white table is located at the back."}
+{"scene_index": 51, "scene": "The white tables are positioned at the back and on the right side, while the peeler is located in the back-left area."}
+{"scene_index": 52, "scene": "The white table is positioned at both back and right sides, while the peeler is placed at the back."}
+{"scene_index": 53, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 54, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 55, "scene": "The white table is at the back and the right, and the peeler is also at the back."}
+{"scene_index": 56, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 57, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 58, "scene": "The white table is positioned at the back, while the eraser is located at the back right corner."}
+{"scene_index": 59, "scene": "The white table is positioned at the back."}
+{"scene_index": 60, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 61, "scene": "The white table is positioned at the back."}
+{"scene_index": 62, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 63, "scene": "The white table (back) is positioned at the back, the white table (right) is positioned on the right side, and the peeler is positioned at the back."}
+{"scene_index": 64, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 65, "scene": "The white table is positioned at the back, while the regular table is located to the right."}
+{"scene_index": 66, "scene": "The white tables are positioned at the back and right sides, while the peeler is located at the back-left."}
+{"scene_index": 67, "scene": "The white table is located at the back, while the peeler is positioned on the back left."}
+{"scene_index": 68, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 69, "scene": "The white table is positioned at the back."}
+{"scene_index": 70, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 71, "scene": "The white table is at the back, with a peeler positioned to its back right side, while another white table is located to the right."}
+{"scene_index": 72, "scene": "The white table is positioned at the back."}
+{"scene_index": 73, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 74, "scene": "The white table is positioned at the back, and the peeler is located to the back left of the table."}
+{"scene_index": 75, "scene": "The white table and peeler are both positioned at the back."}
+{"scene_index": 76, "scene": "The white table is located at the back, while the peeler is positioned on the back right."}
+{"scene_index": 77, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 78, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 79, "scene": "The white table is located at the back, while the peeler is positioned at the back right corner."}
+{"scene_index": 80, "scene": "The white tables are positioned at the back and right sides, while the peeler is located at the back left."}
+{"scene_index": 81, "scene": "The white table is at the back, and so is the peeler; another white table is on the right."}
+{"scene_index": 82, "scene": "The white table is at the back, while the other table is on the right side."}
+{"scene_index": 83, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 84, "scene": "The white table is at the back the peeler is also at the back another object marked as er is positioned at the back right."}
+{"scene_index": 85, "scene": "The white table is positioned at the back."}
+{"scene_index": 86, "scene": "The white table is located at the back, and the peeler is also positioned at the back."}
+{"scene_index": 87, "scene": "The white table is at the back, with the peeler positioned on its back-left side."}
+{"scene_index": 88, "scene": "The white table is positioned at the back."}
+{"scene_index": 89, "scene": "The two white tables are both positioned at the back while the er is also located at the back."}
+{"scene_index": 90, "scene": "The white table is positioned at the back."}
+{"scene_index": 91, "scene": "The white table is positioned at the back, with the eraser also located at the back, sharing the same positional location."}
+{"scene_index": 92, "scene": "The white table is positioned at the back, while the regular table is located on the right side."}
+{"scene_index": 93, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 94, "scene": "The white table is positioned at the back."}
+{"scene_index": 95, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 96, "scene": "The white table is at the back, the other white table is on the right, and the peeler is also at the back."}
+{"scene_index": 97, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 98, "scene": "The white table is positioned at the back."}
+{"scene_index": 99, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 100, "scene": "The white table is positioned at the back, while the eraser is located at the back left."}
+{"scene_index": 101, "scene": "The white tables are positioned at the back, with one on the right side."}
+{"scene_index": 102, "scene": "The white table and peeler are both positioned at the back."}
+{"scene_index": 103, "scene": "The white table is positioned at the back."}
+{"scene_index": 104, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 105, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 106, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 107, "scene": "The white table is at the back, while the table is on the right."}
+{"scene_index": 108, "scene": "The white table is at the back, while the other table is on the right side."}
+{"scene_index": 109, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 110, "scene": "The white table is positioned at the back."}
+{"scene_index": 111, "scene": "The white table is located at the back."}
+{"scene_index": 112, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 113, "scene": "The white table is positioned at the back."}
+{"scene_index": 114, "scene": "The white table is at the back, a peeler is on the back left, and another white table is on the right."}
+{"scene_index": 115, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 116, "scene": "The white table is positioned at the back, while the regular table is located on the right side."}
+{"scene_index": 117, "scene": "The white table is positioned at the back."}
+{"scene_index": 118, "scene": "The white table is positioned at the back, while the regular table is located to the right."}
+{"scene_index": 119, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 120, "scene": "The white table is located at the back."}
+{"scene_index": 121, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 122, "scene": "The white table is at the back, while the other table is on the right."}
+{"scene_index": 123, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 124, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 125, "scene": "The white table is positioned at the back, with the peeler placed on its back left side, while another white table is located to the right of the setup."}
+{"scene_index": 126, "scene": "The white table is located at the back."}
+{"scene_index": 127, "scene": "The white table is positioned at the back."}
+{"scene_index": 128, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 129, "scene": "The white table is positioned at the back, while the peeler is located at the back right of the table."}
+{"scene_index": 130, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 131, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 132, "scene": "The white table is positioned at the back while the er (likely a typo or placeholder) is located at the back left and the regular table is situated on the right side of the setup."}
+{"scene_index": 133, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 134, "scene": "The white table is positioned at the back."}
+{"scene_index": 135, "scene": "The white table is positioned at the back."}
+{"scene_index": 136, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 137, "scene": "The white table is located at the back."}
+{"scene_index": 138, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 139, "scene": "The white tables are positioned at the back, with one on the right side as well."}
+{"scene_index": 140, "scene": "White table is positioned at the back. White table is positioned to the right. Peeler is positioned at the back."}
+{"scene_index": 141, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 142, "scene": "The white table is positioned at the back, while the peeler is located to its left."}
+{"scene_index": 143, "scene": "The white table is located at the back."}
+{"scene_index": 144, "scene": "The white table is located at the back."}
+{"scene_index": 145, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 146, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 147, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 148, "scene": "The white tables are positioned at the back and to the right while the er is located at the back left."}
+{"scene_index": 149, "scene": "The white table is positioned at the back."}
+{"scene_index": 150, "scene": "The white table is positioned at the back."}
+{"scene_index": 151, "scene": "The white tables are positioned at the back, with one on the right."}
+{"scene_index": 152, "scene": "The white table is positioned at the back."}
+{"scene_index": 153, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 154, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 155, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 156, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 157, "scene": "The white table is positioned at the back."}
+{"scene_index": 158, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 159, "scene": "The white table is positioned at the back."}
+{"scene_index": 160, "scene": "The white table is at the back, the second white table is on the right, and the eraser is positioned at the back right."}
+{"scene_index": 161, "scene": "The white table is located at the back There is another white table positioned to the right An object named er is situated at the back left"}
+{"scene_index": 162, "scene": "The white tables are positioned at the back and right sides, while the peeler is centered."}
+{"scene_index": 163, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 164, "scene": "The white tables are positioned at the back and to the right."}
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+{"scene_index": 170, "scene": "The white table is located at the back."}
+{"scene_index": 171, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 172, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 173, "scene": "The white table is at the back, while another table is on the right. Additionally, a peeler is also positioned at the back."}
+{"scene_index": 174, "scene": "The white tables are positioned at the back and to the right."}
+{"scene_index": 175, "scene": "The white table is positioned at the back."}
+{"scene_index": 176, "scene": "The white tables are positioned at the back and right sides, while the peeler is also located at the back."}
+{"scene_index": 177, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 178, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 179, "scene": "The white table is positioned at the back, the regular table is on the right, and the peeler is located to the left."}
+{"scene_index": 180, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 181, "scene": "The white table is positioned at the back. The peeler is positioned at the back right. The table is positioned to the right."}
+{"scene_index": 182, "scene": "The white table is positioned at the back, another white table is at the right, and an eraser is located at the back right."}
+{"scene_index": 183, "scene": "The white table is positioned at the back, while the other table is located on the right side."}
+{"scene_index": 184, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 185, "scene": "The white table is positioned at the back and to the right."}
+{"scene_index": 186, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 187, "scene": "The white table is positioned at the back."}
+{"scene_index": 188, "scene": "The white table is positioned at the back, with the er also located at the back."}
+{"scene_index": 189, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 190, "scene": "The white table is located at the back while the another item is positioned at the back right The regular table is situated on the right side"}
+{"scene_index": 191, "scene": "The white table is positioned at the back."}
+{"scene_index": 192, "scene": "The white table is positioned at the back."}
+{"scene_index": 193, "scene": "The two white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 194, "scene": "The white tables are positioned at the back and on the right side respectively."}
+{"scene_index": 195, "scene": "The white table is positioned at the back, while another white table and a peeler are both on the right side."}
+{"scene_index": 196, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 197, "scene": "The white table is positioned at both the back and the right."}
+{"scene_index": 198, "scene": "The two white tables are positioned at the back and on the right side."}
+{"scene_index": 199, "scene": "The white table is located at the back, along with the eraser also positioned at the back."}

R1_Lite_move_the_position_of_the_peeler/annotations/subtask_annotations.jsonl

@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Grasp the peeler with right gripper"}
+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "Grasp the peeler with left gripper"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Place the peeler on the table with right gripper"}
+{"subtask_index": 5, "subtask": "Place the peeler on the table with left gripper"}
+{"subtask_index": 6, "subtask": "null"}

R1_Lite_move_the_position_of_the_peeler/annotations/subtasks.jsonl

@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Place the peeler on the table with right gripper"}
+{"subtask_index": 1, "subtask": "Place the peeler on the table with left gripper"}
+{"subtask_index": 2, "subtask": "Static"}
+{"subtask_index": 3, "subtask": "Grasp the peeler with left gripper"}
+{"subtask_index": 4, "subtask": "Grasp the peeler with right gripper"}
+{"subtask_index": 5, "subtask": "End"}
+{"subtask_index": 6, "subtask": "null"}

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