Copy R1_Lite_move_the_position_of_the_cookie into RoboCOIN_useable

R1_Lite_move_the_position_of_the_cookie/.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_cookie/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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_cookie
+
+## 📋 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** | 25 |
+| **Total Frames** | 5045 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 100 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 198.3MB |
+
+
+## 👥 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 cookie the designated position.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Place the cookie on the table with right gripper** 
+2. **Static** 
+3. **Place the cookie on the table with left gripper** 
+4. **End** 
+5. **Grasp the cookie with right gripper** 
+6. **Grasp the cookie with left gripper** 
+7. **Abnormal** 
+8. **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 0:24
+
+
+## 📁 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": 25, "total_frames": 5045, "total_tasks": 1, "total_videos": 100, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:24"}, "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_cookie_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_cookie/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_cookie/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_cookie/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_cookie/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_cookie/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_cookie/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 1, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 2, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 3, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 4, "scene": "The white table is located at the back."}
+{"scene_index": 5, "scene": "The white table is at the back, and there s a cookie also placed at the back."}
+{"scene_index": 6, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 7, "scene": "The white table is at the back, two cookies are on the right and back positions respectively."}
+{"scene_index": 8, "scene": "The white table is located at the back, with the cookie also positioned at the back near it."}
+{"scene_index": 9, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 10, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 11, "scene": "The white table is positioned at the back, with the cookie placed on its back-left side."}
+{"scene_index": 12, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 13, "scene": "The white table is located at the back, with the cookie also positioned at the back near it."}
+{"scene_index": 14, "scene": "The white table is located at the back, while the cookie is placed on the right side."}
+{"scene_index": 15, "scene": "The white table is positioned at the back, with cookies located on both sides (right) of it."}
+{"scene_index": 16, "scene": "The white table is positioned at the back."}
+{"scene_index": 17, "scene": "The white table is positioned at the back, while the cookie is located on the back left side."}
+{"scene_index": 18, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 19, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 20, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 21, "scene": "The white table is at the back, with two cookies positioned on its back right side."}
+{"scene_index": 22, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 23, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 24, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 25, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 26, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 27, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 28, "scene": "The white table is positioned at the back, while the cookie is located on the back left side."}
+{"scene_index": 29, "scene": "The white table is located at the back, while the cookie is positioned at the center."}
+{"scene_index": 30, "scene": "The white table is positioned at the back, while the cookie is placed centrally on the table."}
+{"scene_index": 31, "scene": "The white table is positioned at the back."}
+{"scene_index": 32, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 33, "scene": "The white table is positioned at the back."}
+{"scene_index": 34, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 35, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 36, "scene": "The white table is positioned at the back, while the cookie is located on the right side."}
+{"scene_index": 37, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 38, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 39, "scene": "The white table is positioned at the back."}
+{"scene_index": 40, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 41, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 42, "scene": "The white table is positioned at the back."}
+{"scene_index": 43, "scene": "The white table and cookie are both positioned at the back."}
+{"scene_index": 44, "scene": "The white table is located at the back, with the cookie also positioned at the back near it."}
+{"scene_index": 45, "scene": "The white table is at the back, with a cookie on its back side and another cookie positioned towards the back right."}
+{"scene_index": 46, "scene": "The white table is at the back, with cookies positioned at the back right and center."}
+{"scene_index": 47, "scene": "The white table is positioned at the back, while two cookies are placed to the right and one cookie is located at the back left."}
+{"scene_index": 48, "scene": "The white table is positioned at the back, while the cookie is located on the back left side of the table."}
+{"scene_index": 49, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 50, "scene": "The white table is positioned at the back, while the cookie is located on the back left side."}
+{"scene_index": 51, "scene": "The white table is at the back, with two cookies positioned on its back right corner."}
+{"scene_index": 52, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 53, "scene": "The white table is located at the back, while the cookie is positioned at the center."}
+{"scene_index": 54, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 55, "scene": "The white table is positioned at the back, while the cookie is located on the back left side of the table."}
+{"scene_index": 56, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 57, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 58, "scene": "The white table is positioned at the back, while the cookie is located on the back left side."}
+{"scene_index": 59, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 60, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 61, "scene": "The white table is positioned at the back, with two cookies placed on either side—back right and back left."}
+{"scene_index": 62, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 63, "scene": "The white table is positioned at the back, with two cookies placed on its back right side."}
+{"scene_index": 64, "scene": "The white table is positioned at the back, with two cookies placed on it—one located at the back and the other in the center."}
+{"scene_index": 65, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 66, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 67, "scene": "The white table is positioned at the back."}
+{"scene_index": 68, "scene": "The white table is located at the back, with the cookie placed on its back-left side."}
+{"scene_index": 69, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 70, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 71, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 72, "scene": "The white table is positioned at the back."}
+{"scene_index": 73, "scene": "The white table is at the back, with two cookies placed on it—one to its back right side and one to its back left side."}
+{"scene_index": 74, "scene": "The white table is positioned at the back, while the cookie is located on the back left side of the table."}
+{"scene_index": 75, "scene": "The white table is positioned at the back, with two cookies placed on its surface—one located to the back-left and the other to the back-right."}
+{"scene_index": 76, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 77, "scene": "The white table is located at the back, while the cookie is positioned on the right side."}
+{"scene_index": 78, "scene": "The white table and cookie are both positioned at the back."}
+{"scene_index": 79, "scene": "The white table is positioned at the back, and the cookie is placed on its right side."}
+{"scene_index": 80, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 81, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 82, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 83, "scene": "The white table is positioned at the back, while the cookie is located on the back left side."}
+{"scene_index": 84, "scene": "The white table is positioned at the back."}
+{"scene_index": 85, "scene": "The white table is positioned at the back, while the cookie is placed centrally on it."}
+{"scene_index": 86, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 87, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 88, "scene": "The white table is located at the back, with two cookies positioned nearby—one at the back right and one directly behind the table."}
+{"scene_index": 89, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 90, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 91, "scene": "The white table is positioned at the back, while the cookie is located on the back left side of the table."}
+{"scene_index": 92, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 93, "scene": "The white table is located at the back, with the cookie also positioned at the back near it."}
+{"scene_index": 94, "scene": "The white table is positioned at the back, while the cookie is located on the right side."}
+{"scene_index": 95, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 96, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 97, "scene": "Each white table is positioned at the back."}
+{"scene_index": 98, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 99, "scene": "The white table and cookie are both positioned at the back."}
+{"scene_index": 100, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 101, "scene": "The white table is positioned at the back, with three cookies arranged in a row on its surface, each occupying the back right position."}
+{"scene_index": 102, "scene": "The white table is positioned at the back, while the cookie is placed centrally on it."}
+{"scene_index": 103, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 104, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 105, "scene": "The white table is positioned at the back."}
+{"scene_index": 106, "scene": "The white table is positioned at the back, while the cookie is placed to the left."}
+{"scene_index": 107, "scene": "The white table is positioned at the back, with the cookie placed on its back-left side."}
+{"scene_index": 108, "scene": "The white table is positioned at the back."}
+{"scene_index": 109, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 110, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 111, "scene": "The white table is positioned at the back, with a cookie placed on its back right side and another cookie positioned to the right of it."}
+{"scene_index": 112, "scene": "The white table is positioned at the back, while the cookie is located on the right side."}
+{"scene_index": 113, "scene": "The white table is at the back, with two cookies placed on it, one on the left side and another also at the back."}
+{"scene_index": 114, "scene": "The white table is at the back, and there s a cookie also placed at the back."}
+{"scene_index": 115, "scene": "The white table is positioned at the back, with the cookie placed on its back-left side."}
+{"scene_index": 116, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 117, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 118, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 119, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 120, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 121, "scene": "The white table is at the back, and there s a cookie also placed at the back."}
+{"scene_index": 122, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 123, "scene": "The white table is positioned at the back, while the cookie is located at the center."}
+{"scene_index": 124, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 125, "scene": "The white table is at the back, with two cookies placed behind it—one aligned centrally and the other positioned to the back right."}
+{"scene_index": 126, "scene": "The white table is positioned at the back."}
+{"scene_index": 127, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 128, "scene": "The white table is positioned at the back."}
+{"scene_index": 129, "scene": "The white table is at the back, with two cookies placed on either side—back right and back left."}
+{"scene_index": 130, "scene": "The white table is located at the back, while the cookie is positioned on the right side."}
+{"scene_index": 131, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 132, "scene": "The white table is positioned at the back, while the cookie is placed centrally on the table."}
+{"scene_index": 133, "scene": "The white table is positioned at the back, with two cookies also located at the back, one on the left side."}
+{"scene_index": 134, "scene": "The white table is positioned at the back, while the cookie is placed in the center, establishing their respective locations within the scene."}
+{"scene_index": 135, "scene": "The white table is located at the back, while the cookie is positioned at the center."}
+{"scene_index": 136, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 137, "scene": "The white table is positioned at the back, while the cookie is located at the center."}
+{"scene_index": 138, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 139, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 140, "scene": "The white table is positioned at the back, while the cookie is located to the left."}
+{"scene_index": 141, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 142, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 143, "scene": "The white table is located at the back, while the cookie is positioned at the center."}
+{"scene_index": 144, "scene": "The white table is located at the back."}
+{"scene_index": 145, "scene": "The white table is located at the back, while the cookie is placed on the right side."}
+{"scene_index": 146, "scene": "The white table is located at the back, while the cookie is positioned on the right side."}
+{"scene_index": 147, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 148, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 149, "scene": "The white table is located at the back, with two cookies also placed behind it on the same surface."}
+{"scene_index": 150, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 151, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 152, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 153, "scene": "The white table is located at the back, with the cookie also positioned at the back near it."}
+{"scene_index": 154, "scene": "The white table and cookie are both positioned at the back."}
+{"scene_index": 155, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 156, "scene": "The white table is positioned at the back, while the cookie is placed centrally on the table."}
+{"scene_index": 157, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 158, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 159, "scene": "The white table is positioned at the back, while the cookie is located at the center."}
+{"scene_index": 160, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 161, "scene": "The white table is positioned at the back, while the cookie is located on the right side."}
+{"scene_index": 162, "scene": "The white table is positioned at the back."}
+{"scene_index": 163, "scene": "The white table and cookie are both positioned at the back."}
+{"scene_index": 164, "scene": "The white table is at the back, and there s a cookie also placed at the back."}
+{"scene_index": 165, "scene": "The white table is positioned at the back each cookie is located at the back two cookies are specifically placed in the back-left area"}
+{"scene_index": 166, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 167, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 168, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 169, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 170, "scene": "The white table is positioned at the back."}
+{"scene_index": 171, "scene": "The white table is positioned at the back, while two cookies are located at the back as well, with one specifically placed on the back left side."}
+{"scene_index": 172, "scene": "The white table is located at the back, and the cookie is also positioned at the back, indicating that both objects share the same positional location."}
+{"scene_index": 173, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 174, "scene": "The white table is at the back, with a cookie centered in front of it and another cookie placed at the back left near the table."}
+{"scene_index": 175, "scene": "The white table is at the back, with two cookies placed in the center and one cookie positioned at the back left on the table."}
+{"scene_index": 176, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 177, "scene": "The white table is located at the back, with a cookie positioned on its back-left side."}
+{"scene_index": 178, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 179, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 180, "scene": "The white table is positioned at the back."}
+{"scene_index": 181, "scene": "The white table is positioned at the back, while the cookie is located on the back left side of the table."}
+{"scene_index": 182, "scene": "The white table is located at the back, with two cookies placed on it— one positioned at the back and another at the back right."}
+{"scene_index": 183, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 184, "scene": "The white table is positioned at the back, while the cookie is located at the back right of the same table."}
+{"scene_index": 185, "scene": "The white table is positioned at the back, while the cookie is centered on top of it."}
+{"scene_index": 186, "scene": "The white table is positioned at the back, with the cookie placed behind it on the back left side."}
+{"scene_index": 187, "scene": "The white table is at the back, with two cookies positioned on its edges—one on the back left and one on the back right."}
+{"scene_index": 188, "scene": "The white table is located at the back, and the cookie is also positioned at the back."}
+{"scene_index": 189, "scene": "The white table is positioned at the back, and the cookie is also placed at the back, indicating that both objects share the same positional relationship relative to the scene."}
+{"scene_index": 190, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 191, "scene": "The white table is positioned at the back, while the cookie is placed on its left side."}
+{"scene_index": 192, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 193, "scene": "The white table is located at the back."}
+{"scene_index": 194, "scene": "The white table is located at the back, while the cookie is positioned to the right."}
+{"scene_index": 195, "scene": "The white table is at the back, two cookies are located near it—one on the back right side and another behind."}
+{"scene_index": 196, "scene": "The white table is positioned at the back, while the cookie is located at the back right."}
+{"scene_index": 197, "scene": "The white table is positioned at the back."}
+{"scene_index": 198, "scene": "The white table is positioned at the back, and the cookie is located towards the back right of the table."}
+{"scene_index": 199, "scene": "The white table is positioned at the back, while the two cookies are located to the back left of the table."}

R1_Lite_move_the_position_of_the_cookie/annotations/subtask_annotations.jsonl

@@ -0,0 +1,8 @@
+{"subtask_index": 0, "subtask": "Place the cookie on the table with right gripper"}
+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "Place the cookie on the table with left gripper"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Grasp the cookie with right gripper"}
+{"subtask_index": 5, "subtask": "Grasp the cookie with left gripper"}
+{"subtask_index": 6, "subtask": "Abnormal"}
+{"subtask_index": 7, "subtask": "null"}

R1_Lite_move_the_position_of_the_cookie/annotations/subtasks.jsonl

@@ -0,0 +1,8 @@
+{"subtask_index": 0, "subtask": "Place the cookie on the table with right gripper"}
+{"subtask_index": 1, "subtask": "Abnormal"}
+{"subtask_index": 2, "subtask": "Static"}
+{"subtask_index": 3, "subtask": "Grasp the cookie with right gripper"}
+{"subtask_index": 4, "subtask": "Place the cookie on the table with left gripper"}
+{"subtask_index": 5, "subtask": "End"}
+{"subtask_index": 6, "subtask": "Grasp the cookie with left gripper"}
+{"subtask_index": 7, "subtask": "null"}

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R1_Lite_move_the_position_of_the_cookie/data/chunk-000/episode_000005.parquet

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