diff --git a/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/.gitattributes b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/README.md b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/README.md new file mode 100644 index 0000000000000000000000000000000000000000..14a3aa36d7ced6e30ead27b0c787bef451dbb825 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/README.md @@ -0,0 +1,345 @@ +--- +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: 10K-100K + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# AIRBOT_MMK2_take_down_umbrella_and_mineral_water + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `discover_robotics_aitbot_mmk2` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `five_finger_hand` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 212 | +| **Total Frames** | 31517 | +| **Total Tasks** | 5 | +| **Total Videos** | 848 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 1.2GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +pick up the blue and green cubes from the lid of the paper box simultaneously with both hands and place them on the table. +Use one hand to take the white umbrella off the white lid and then use your other hand to take the mineral water off the white lid. +Take the vitamin b water off the white cap with one hand, and then take another vitamin b water off the white cap with your other hand. +Take out the yellow egg with one hand. +take the two black cakes out of the white box simultaneously with both hands and place them on the table. + +### Sub-Tasks +This dataset includes 22 distinct subtasks: + +1. **Place the cake on the table with the left gripper** +2. **Place the mineral water on the table with the left gripper** +3. **Grasp the umbrella on the white lid with the right gripper** +4. **Grasp the cake from the white basket with the right gripper** +5. **Grasp the vitamin B water on the white lid with the left gripper** +6. **Place the umbrella on the table with the right gripper** +7. **Grasp the blue cube block on the paper box with the left gripper** +8. **Place the green cube block on the table with the right gripper** +9. **End** +10. **Grasp the cake from the white basket with the left gripper** +11. **Place the blue cube block on the table with the left gripper** +12. **Grasp the mineral water on the white lid with the left gripper** +13. **Place the vitamin B water on the table with the right gripper** +14. **Place the vitamin B water on the table with the left gripper** +15. **Static** +16. **Place the cake on the table with the right gripper** +17. **Abnormal** +18. **Grasp the egg from the egg storage box with the right gripper** +19. **Place the egg on the table with the right gripper** +20. **Grasp the vitamin B water on the white lid with the right gripper** +21. **Grasp the green cube block on the paper box with the right gripper** +22. **null** + + +## πŸŽ₯ 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 + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:211 + + +## 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- **observation.images.cam_third_view**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 212, "total_frames": 31517, "total_tasks": 5, "total_videos": 848, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:211"}, "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.images.cam_third_view": {"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": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_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]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +AIRBOT_MMK2_take_down_umbrella_and_mineral_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”‚ └── (...) + β”œβ”€β”€ observation.images.cam_right_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_third_view/ + 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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_acc_mag_annotation.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_direction_annotation.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_velocity_annotation.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/gripper_activity_annotation.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/gripper_mode_annotation.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_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/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/scene_annotations.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b37015857c0e511c2a4fc83a91279dcd8071a28 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/scene_annotations.jsonl @@ -0,0 +1,212 @@ +{"scene_index": 0, "scene": "Green Cube is in the front-right position, Vitamin B Water is on the right side, Blue Cube is on the left side, Black Cakes are placed both in the front-left and front-right positions, White Umbrella is on the left side, White Box is in the front-right position, Yellow Egg is on the right side, and White Lid is also on the right side."} +{"scene_index": 1, "scene": "The white box is at the front, positioned alongside the yellow eggs and vitamin B water also at the front. The white umbrella is at the front left, while the green cubes are at the front right and also at the front. The blue cube is located at the back."} +{"scene_index": 2, "scene": "The yellow egg is in the front right, alongside the white lid also in the front right. The white caps are positioned at front right and front, with a white object at front and a white box at front as well."} +{"scene_index": 3, "scene": "White box is in front, White umbrella and white lid are both in the front right, There are two vitamin B waters in the front left, A white cap and a yellow egg are in the front (the egg may be associated with the white cap), A green cube is also in the front left, Blue cube is at the center."} +{"scene_index": 4, "scene": "The green cube is in front right, with water and egg also in front right. The white boxes are all in front, overlapping or positioned similarly to the other objects."} +{"scene_index": 5, "scene": "The white box is in front, with a white lid on its front right side. Black cakes are present on both the front and front left positions."} +{"scene_index": 6, "scene": "The two white boxes are both at the front, while the two yellow eggs are positioned in the front right area."} +{"scene_index": 7, "scene": "The black cakes are positioned at the front, with one on the front left and another on the front right. The white lid is placed in front of the front right cake, while the white box sits at the front as well."} +{"scene_index": 8, "scene": "The yellow egg and white umbrella are both in the front right position, the blue cube is at the center, and the white box is at the front."} +{"scene_index": 9, "scene": "The white lid is in front right, the white box is in front, the vitamin B water is in front right, the yellow egg is in front, and another white box is in front."} +{"scene_index": 10, "scene": "Yellow egg (front), white lid (front right), blue cube and white umbrella (left), green cube (left), yellow egg (front), white box (front)."} +{"scene_index": 11, "scene": "The White Box is on Front. The Vitamin B Water is on Front. The Green is on Front Right. The Yellow Egg is on Front."} +{"scene_index": 12, "scene": "The green cube is at the front right, the white box is in front of it, the vitamin B water is on the right, the black cakes are also at the front right, two yellow eggs are at the back right, a blue cube is on the left, another blue cube is at the front, and a white umbrella is in the front left."} +{"scene_index": 13, "scene": "The white box is at the front, with a white lid on its front right side and vitamin B water also placed in the front right."} +{"scene_index": 14, "scene": "The white box is in front, with another white box also in front. The egg is in the front right, and the vitamin B water is in front."} +{"scene_index": 15, "scene": "The white box is in the front, and another white box is at the center. The blue cube is at the back. The green cube is on the front left, the vitamin B water is also in the front, and the egg is at the front right."} +{"scene_index": 16, "scene": "The green cube is at front right, The blue cube is at front, The vitamin B water is at back left, The black cakes are at front right, The yellow egg is at back right (mentioned twice), The white box is at front, The white umbrella is at front left, The egg is at back right, The mineral water is at back left."} +{"scene_index": 17, "scene": "The white lid is at front right; the yellow egg is also at front right; blue and green cubes are on the left; another yellow egg is at front; and the white box is at front."} +{"scene_index": 18, "scene": "A white box is in the front, vitamin B water is in the front left, a white cap with a white lid is on the right, a white cap yellow egg is in the front left, a blue cube is in the front right, an umbrella is in the front, a white umbrella is in the front left, and a green cube is in the front left."} +{"scene_index": 19, "scene": "Lid is in the front-left position. Yellow egg is in the front-right position. Vitamin B water is in the front position. Another egg is in the front-right position. White box is in the front position. Green cube is in the front-left position."} +{"scene_index": 20, "scene": "The green cube is at front right, the white box is in front, the blue cube is also in front, there are two vitamin B waters on the right and left sides, a yellow egg is on the right, and black cakes are at the back right."} +{"scene_index": 21, "scene": "Black cakes are at the front, Black cakes are at the front left, Black cakes are at the front, White box is at the front, White umbrella is at the front left, Green cube is at the front left, Cube is at the front."} +{"scene_index": 22, "scene": "The yellow eggs are both in front right positions, the white box is in front, the blue cube is at the back, and the green cube is on the left."} +{"scene_index": 23, "scene": "The white box is at the front, with a vitamin B water bottle in front left, sharing space with a green cube also in front left. On the front right, there s a white umbrella and a white lid."} +{"scene_index": 24, "scene": "Black cakes are positioned at the front and front left, with one cake duplicated; a white box is at the front; a white lid is at the front right; and a green cube is at the front left."} +{"scene_index": 25, "scene": "The white box is at the front, with a vitamin B water bottle positioned in the front left and a white umbrella placed in the front right. The white lid is located to the right."} +{"scene_index": 26, "scene": "The white lid is on the left, a yellow egg is in front-right, another egg is in front, and a white umbrella with its lid is on the right."} +{"scene_index": 27, "scene": "Green cube is in the front right Blue cube is in the front Vitamin B water is in the back left and also in the back right White box is in the front (there are two white boxes) Yellow egg is in the back left White umbrella is in the front left Black cakes are in the back right Mineral is in the back right White cap is in the back right"} +{"scene_index": 28, "scene": "White cap white lid is at front right. Black cakes are in multiple locations: front, front left, and front. White box is at front. Blue cube is also at front right."} +{"scene_index": 29, "scene": "The white box is in front, with the yellow eggs positioned in front as well. The vitamin B water is also in front. Additionally, there s a green cube placed in front left and a white cap or lid located at front left. There are multiple yellow eggs arranged in different positions: one in front and another in front right."} +{"scene_index": 30, "scene": "Vitamin B Water is at front left, White Box is at front, Black Cakes are at front right, White Lid is at front right, White Cap is at front, Umbrella is at front left, Blue Cube is at left."} +{"scene_index": 31, "scene": "The green cube is at front right, the blue cube is at front, two vitamin B waters are at back left and back right, the white box is at front, the yellow egg is at back left, the black cakes are at front right, and the mineral water is at back right."} +{"scene_index": 32, "scene": "The yellow egg is in the front right position, the green cube is in the front left position, and all other white objects are located in the front position."} +{"scene_index": 33, "scene": "The black cakes are positioned at front left, front, and front; the green item is at front left; the white lid is at front right; and the white box is at front."} +{"scene_index": 34, "scene": "Black cakes are in front left, white lid is in front right, white box is also in front left, and blue cube is in front right."} +{"scene_index": 35, "scene": "The green cube is in the front right, the white box is in the front, the blue cube is in the front, the vitamin B water is on the right, the yellow egg is in the center, the black cakes are in the back right, and the white umbrella is in the front left."} +{"scene_index": 36, "scene": "Black cakes are at the front, one specifically in the front left; a white box is also at the front; a white lid is placed at the front right; and a green cube is located at the front left."} +{"scene_index": 37, "scene": "Black cakes are positioned in front, with one specifically at front left. A white box is also in front, and a blue cube is located at front right."} +{"scene_index": 38, "scene": "Vitamin B water is in the front. The yellow egg is in the front left. The green cube is in the front left. The white cap and white lid are in the front left. The blue cube and green cube are in the front left. The white box is in the front. The egg is in the front right."} +{"scene_index": 39, "scene": "The yellow egg is front right; the white lid with a white umbrella is on the right; the white cap and another yellow egg are in front; the white box is also at the front."} +{"scene_index": 40, "scene": "The white box is in front, water is also in front, the white lid is centered, another white box is at the front, and the yellow egg is placed at the front right."} +{"scene_index": 41, "scene": "The white box is at the front; two yellow eggs are also at the front, one overlapping the other; the vitamin B water is at the front as well. The black cakes are positioned at the front right. The green cube is located at the back right, while the blue cube is on the left side."} +{"scene_index": 42, "scene": "The white lid is at the front right The first yellow egg is at the front right The second yellow egg is in front The white cap is in front The blue cube and green cube are at the front left The black cakes are at the front left The white umbrella is in the center The white box is in front"} +{"scene_index": 43, "scene": "Yellow eggs are positioned at front right. White caps are at front right, front, and front left. A white lid is on the right. Black cakes are on the left. A white umbrella is in the center. A white box is at the front."} +{"scene_index": 44, "scene": "The yellow egg is at the front right. The other yellow egg is at the front. A white lid is on the right side. Four white caps are all positioned at the front. Additionally, there is a white box located at the front."} +{"scene_index": 45, "scene": "The white box is at front, with vitamin B water at front left and black cakes also at front left; the white umbrella is at front right, the white cap is at front, and the cube is at left."} +{"scene_index": 46, "scene": "The green cube is at front left, the water and white box are both in front, the yellow egg is also in front, the white lid shares the front left position with the green cube, and the blue cube is at the back."} +{"scene_index": 47, "scene": "The yellow egg is in the front right position, and there are multiple objects with similar positions and colors."} +{"scene_index": 48, "scene": "The white box is at the front; the yellow eggs are both in the front and front right; the vitamin B water is at the front; the green cube is at the front left; the lid is also at the front left."} +{"scene_index": 49, "scene": "Black cakes are present with three located at front left, a single white lid is at the front right, there's one white box upfront, and one green cube is situated at front left."} +{"scene_index": 50, "scene": "The black cake is in the front, with another black cake positioned slightly to its left. The white box is also at the front, placed towards the right side, and it has a white lid covering it."} +{"scene_index": 51, "scene": "Black cakes occupy positions front, front left, and front, white box is at front, white lid is at front right."} +{"scene_index": 52, "scene": "The white box is at the front, positioned in front of both the vitamin B water (front right) and green object (front left), which are on either side."} +{"scene_index": 53, "scene": "Black cakes are positioned at front left and front. A white box is at front. A green cube is also at front left. A white lid is located at front right along with a white umbrella."} +{"scene_index": 54, "scene": "The green cube is at the front right, while the white box and blue cube are both in front. The white lid is on the left, and the white umbrella is at the front left. In the back left corner, there s a mineral water bottle, and two vitamin B waters are placed at the back right. Lastly, the yellow eggs are located at the back right."} +{"scene_index": 55, "scene": "The white box is at the front; black cakes are in front and front left; a green cube is front left; a white umbrella is front left; another black cake is front; the white lid is front right."} +{"scene_index": 56, "scene": "The white box and the vitamin B water are both positioned at the front."} +{"scene_index": 57, "scene": "Green Cube is on the front right, Blue Cube is in front, Vitamin B Water is on the right, Black Cakes are on the front right, White Box is in front, and Yellow Egg is on the right."} +{"scene_index": 58, "scene": "The yellow egg is at front right, the white lid is on the right, and the white box is in front."} +{"scene_index": 59, "scene": "The white lid is at the front right, while the black cakes are positioned in the front, front left (two instances), and another black cake is also front left. The white box is at the front left, the blue cube is at the front right, and the green cube is at the front left."} +{"scene_index": 60, "scene": "The white box is in front. The black cakes are on the front and front left. The blue cube and white lid are on the front right."} +{"scene_index": 61, "scene": "Black cakes are positioned in front (multiple instances), with one at the front left. A white lid and a blue cube are located on the front side, specifically the front right. Additionally, there is a white box also placed in front."} +{"scene_index": 62, "scene": "Yellow egg is located at front right Another yellow egg is in front White lid is on the right side White box is positioned at the front Green cube is situated at front left There are four white caps in front and one white cap is located at front left"} +{"scene_index": 63, "scene": "The white lid with a white umbrella is on the right. A yellow egg is at the front right, and another yellow egg is at the front. A white lid is on the left, and a white box is at the front."} +{"scene_index": 64, "scene": "The black cakes are positioned in the front left and front, the white box is at the front, the white lid is on the front right, and the green cube is also in the front left."} +{"scene_index": 65, "scene": "The yellow egg is at the front, the green cube is at the back right, the white box is at the front, the blue cube is at the back left, and two vitamin B waters are both positioned at the front, with one specifically located at the front right."} +{"scene_index": 66, "scene": "Green cube is at front right. Blue cube is at front. Vitamin B water is at right and left. White box is at front. Yellow egg is at back right. Black cakes are at front right. Another blue cube is at front left. White umbrella is at front left. Paper box is at back left. Eggs are at back right. Vitamin B water is at back right."} +{"scene_index": 67, "scene": "The black cakes are positioned at front left, front, and front, while the white box with a white lid is placed at front right."} +{"scene_index": 68, "scene": "The yellow egg is in the front and front right positions, the white lid with a white umbrella and another white umbrella are both in the front right position, the blue cube and green cube are in the front left position, and the white box is in the front position."} +{"scene_index": 69, "scene": "The green cube is positioned at the front right. The white box is in front. There are two vitamin B waters, one on the right and another on the back left. A yellow egg is placed in the back right, with a duplicate entry also indicating its presence there. Additional is in the back right, and a white umbrella is positioned at the front left. Lastly, mineral water is situated at the back left."} +{"scene_index": 70, "scene": "The blue cube is located at the front left, the white box is positioned at the front, and the yellow egg is situated at the front right."} +{"scene_index": 71, "scene": "The green cube is in the front right, the white box and blue cube are both in the front, the white umbrella is in the front left, the vitamin B water is in both back left and back right, the black cakes and white lid are on the left with the white lid also being on the left, the yellow mineral water and another vitamin B water are all in the back right."} +{"scene_index": 72, "scene": "The white box is in front, with the green cube positioned at front left. The vitamin B water and the regular water are both placed in front."} +{"scene_index": 73, "scene": "Green cube (front right), White umbrella (front right), White box (front), Vitamin B water (right and back left), Blue cube (front), Yellow egg (back right), White cap/white lid (front left), Mineral water (back left), Box (left), Egg (back right)."} +{"scene_index": 74, "scene": "The white umbrella is on the right, with the yellow egg in front of it. The blue and green cubes are on the left, while another yellow egg and a white box are positioned at the front."} +{"scene_index": 75, "scene": "The yellow eggs are at front and front right, while the white lid is at front right, the white cap is at front left."} +{"scene_index": 76, "scene": "The green cube is in the front right, the blue cube is in front, the vitamin B water is at the back left, the mineral-vitamin B water is on the left, the white umbrella is at the front left, the mineral water is on the left, and the white box is at the front."} +{"scene_index": 77, "scene": "The green cube is in the front right position, with another box and a white box also located there. The blue cube is positioned at front, while the black cakes and white umbrella are together at front right. A yellow egg is at back left, alongside vitamin B water, which also has another instance at back right. Lastly, mineral water is placed at back right, and a cube is at left position."} +{"scene_index": 78, "scene": "There are three black cakes, two at the front left and one at the front; there is a blue cube located at the front right; there is a white box positioned at the front left; there is a white lid placed at the front right."} +{"scene_index": 79, "scene": "White box and Vitamin B water are positioned at the front, blue cube and green cube are positioned at front left, yellow egg is also positioned at the front."} +{"scene_index": 80, "scene": "The white lid is at the front right, the yellow egg is at the front right, the white umbrella is at the front left, and the white box is at the front."} +{"scene_index": 81, "scene": "Black cakes are positioned at front left and front. White cap with white lid is at front right. Black object is at front. White box is at front left."} +{"scene_index": 82, "scene": "The white boxes are at the front, with one also positioned at the front; the blue cube is in the front left; the vitamin B water is at the front; and the yellow egg is at the front right."} +{"scene_index": 83, "scene": "Black cakes are positioned in the front, with one specifically located at front left. Additionally, there is a white box and a white lid placed at front and front right respectively. A blue cube and a green cube are both situated at front left."} +{"scene_index": 84, "scene": "The green cube is in the front right, the vitamin B water is at the back left, the blue cube is in the front, the yellow egg and the white box are both at the back right."} +{"scene_index": 85, "scene": "White lid is front right. White box is front. Yellow egg is front right. Green cube is front left. White (color) is front right."} +{"scene_index": 86, "scene": "The white lid is at front left. The yellow egg and green cube are both at front left. Wait, but the user said that each object should have its own position in a single sentence, so maybe I need to adjust. Let me try again. Here s the corrected version: - White lid: front left - Yellow egg: front - White box: front - Green cube: front left - Blue cube: back - Vitamin B water: front - Black cakes: front left"} +{"scene_index": 87, "scene": "The white box is at the front, the vitamin B water is in the front-right, the blue cube is on the left, and the egg is at the front."} +{"scene_index": 88, "scene": "White box is at the front, yellow egg is in front right, B water is in front left, green cube is in front left."} +{"scene_index": 89, "scene": "The white lid is at the front right, and there are three yellow eggs nearby in the front area. A white umbrella is at the center, while a white box is located at the front. Additionally, several white caps are placed in the front, with two of them positioned towards the front left."} +{"scene_index": 90, "scene": "The vitamin B water is at the front. The white box is in front (there are two). The green cube is in front left. The blue cube is on the left."} +{"scene_index": 91, "scene": "The green cube is in the front right, the blue cube is in front, the white box is in front, and the vitamin B water and yellow egg are both in the back left."} +{"scene_index": 92, "scene": "The white lid is in the front right, the green cube and two black cake sets are in the front left, one more set of black cakes is at the front without a specific side, and the white box is also at the front."} +{"scene_index": 93, "scene": "The white box is at the front. The black cakes are in front positions with one specifically at front left, and the green cube is also at front left."} +{"scene_index": 94, "scene": "The yellow egg is in the front-right, with a white lid nearby on the right. Another yellow egg is also in the front-right, accompanied by two white caps and a white box all positioned at the front."} +{"scene_index": 95, "scene": "The white box is in the front. The yellow egg and green cube are both at front right. The white cap white lid is in front. The vitamin B water is also at front right. Another yellow egg is at front right. The blue cube is on the left."} +{"scene_index": 96, "scene": "Black cakes occupy positions front left and front, white lid is at front right and front left, white box is at front, and black is at front."} +{"scene_index": 97, "scene": "Green cube is positioned at front right White box is positioned at front Vitamin B water is positioned at back left Blue cube (1) is positioned at front Blue cube (2) is positioned at left Yellow egg is positioned at back right White lid is positioned at front left Black cakes are positioned at front right White umbrella is positioned at front left Mineral water is positioned at back left."} +{"scene_index": 98, "scene": "Black cakes are in front left; white box is in front; black cakes (again) are in front; lid is in front right."} +{"scene_index": 99, "scene": "The yellow egg is in the front right, sharing its position with a white lid, another yellow object, and a white cap. A separate white box is located slightly to the front from these objects."} +{"scene_index": 100, "scene": "The white box is at the front, the green cube is in front right, and the water is also in front right."} +{"scene_index": 101, "scene": "The white box is at the front. The two vitamin B waters are both in the front left position. The white umbrella is on the front left and front right positions. The white cap with a white lid is on the right side. The blue cube is on the left."} +{"scene_index": 102, "scene": "The white boxes are at the front, while the green cube and yellow egg are positioned in front right, and water is also located at the front."} +{"scene_index": 103, "scene": "The white box is at the front, with the yellow egg in the front right, the green cube and vitamin B water both in the front left, and the blue object positioned to the left."} +{"scene_index": 104, "scene": "The white lid is in the front right, with a yellow egg also front right. The green cube is front left, while two white caps and another yellow egg are both front."} +{"scene_index": 105, "scene": "Green cube is in front right White box is in front Vitamin B water is in back left and also on the right Yellow egg is in back right White is in front left Box is on the left"} +{"scene_index": 106, "scene": "A white box is at the front. A vitamin B water bottle is in front left, another identical one also in front left. A blue cube and a green cube are both on the front right. There s a lid on the front right and a white cap on the front left."} +{"scene_index": 107, "scene": "The black cakes are at the front left, the white lid is at the front right, the white box is also at the front left, and the green cube is at the front left as well."} +{"scene_index": 108, "scene": "The black cakes are at the front left, positioned near the green cube which is also in the front left area. The white box with its white lid is located in the front, but it doesn t specify any direct relationship to the other objects."} +{"scene_index": 109, "scene": "The white box is positioned at the front, while the yellow egg is also located at the front; both objects share the same position."} +{"scene_index": 110, "scene": "The yellow egg is in front, the white lid is in front right, the white cap is in front, the green cube is in front left, the white umbrella is in center, the white box is in front, and the cakes are in front left."} +{"scene_index": 111, "scene": "The black cakes are at the front, one slightly to the front left and the other to the front. The white box is in front, positioned to the front right along with the white lid that likely covers it. The blue cube is also at the front right, separate from the others."} +{"scene_index": 112, "scene": "Yellow egg (front), white lid (front right), yellow egg (front), yellow egg (front right), white cap (front right), green cube (front left), and white box (front)."} +{"scene_index": 113, "scene": "The yellow egg is in front, the white box is also in front, the blue cube is at the back, and the white umbrella is in front on the left."} +{"scene_index": 114, "scene": "The green cube is in the front right, the white box is front, the vitamin B water is back left, the blue cube is front, another vitamin B water is back right with a yellow cap and a mineral both in the back right, and the white umbrella is on the left."} +{"scene_index": 115, "scene": "The white box is in the front. The green cube and white cap white lid are both in the front left. The blue cube is in the front right. There are two vitamin B waters, both located in the front left."} +{"scene_index": 116, "scene": "The green cube is at the front right, with the white box directly in front. The vitamin B water is on the right and back right, alongside two yellow eggs also positioned at the back right. Black cakes are at the front right as well. A white umbrella is placed at the front left, while the blue cubes are on the left. Lastly, a box is at the back left."} +{"scene_index": 117, "scene": "Green cube is in the front-right, vitamin B water is on the right, white box is in front, white lid is in the front-right, yellow egg is at the center and also on the right, black object is in the back-right, blue object is in front."} +{"scene_index": 118, "scene": "The white box is at the front, the yellow egg is in front right, and the green cube is also in front right."} +{"scene_index": 119, "scene": "The green cube is in the front-right position. The blue cube is in the front position. The black cakes are split into two groupsβ€”one in the front-right and another in the back-right positions. The yellow egg is on the right side. The white lid is at the front-left, while the white box is also at the front. Lastly, the vitamin B water bottle is positioned on the right."} +{"scene_index": 120, "scene": "The yellow egg is in the front right, with a white lid to its right and another yellow object also in the front right. A white cap is in the front, along with two more white caps and a white base, all positioned at the front. The black cakes are on the left side."} +{"scene_index": 121, "scene": "The black cakes are positioned at the front (three instances), with one specifically at the front left, while the white box is also located at the front."} +{"scene_index": 122, "scene": "Black cakes are positioned at front left and front, the white box is located at front, and the white lid is placed at front right."} +{"scene_index": 123, "scene": "Green Cube Front Right Blue Cube Front Vitamin B Water Right Vitamin B Water Left White Box Front Yellow Egg Right Black Cakes Back Right"} +{"scene_index": 124, "scene": "The white lid is in the front right, near the yellow egg which is also in the front right. The white cap is in the front, while the black cakes are positioned in the front left. Another yellow egg is placed in the front, and the white umbrella is located at the center. Finally, the white box is situated in the front as well."} +{"scene_index": 125, "scene": "The yellow eggs are positioned in the front right, with one overlapping the other. The white umbrella is on the left, and the white box and white lid are both in the front, with the white lid slightly to the right of the white box."} +{"scene_index": 126, "scene": "The white lid is on the right There are two yellow eggs in front and one in front right A white cap is in front A green cube is in front left Another white cap is in front A white box is also in front."} +{"scene_index": 127, "scene": "Green cube is in the front-right position Vitamin B water is at the back-left Blue cube is in the front Black cakes are in the front-right White box is in the front Yellow egg is at the back-left White umbrella is on the left."} +{"scene_index": 128, "scene": "The green cube is in the front right, the white box is in the front, the vitamin B water is on the right and back right, the yellow egg is in the back right, another yellow egg is also in the back right, the blue cube is in the front left and front, the white lid is in the front left, the box is on the left, the mineral is in the back left, and the umbrella is in the front left."} +{"scene_index": 129, "scene": "The white lid is at the front right. The yellow egg is at the front right and front. The green cube is at the front left. The white cap is at the front. The white color is at the front right. The yellow color is at the front right. The white umbrella is at the center. The white box is at the front."} +{"scene_index": 130, "scene": "The yellow eggs are in the front, with one at front right; the lids are on both the right and left sides; the white box is at the front."} +{"scene_index": 131, "scene": "White box is at front. Black cakes are at front and front left. Green cube is at front left."} +{"scene_index": 132, "scene": "The white lid is positioned at the front right, alongside the yellow egg also at front right; the green cube is at front left, while the two yellow eggs are both at front and front respectively; the white box is at front, along with another white cap also at front; the black cakes are on the left side, and the white umbrella is centered."} +{"scene_index": 133, "scene": "White lid is in front right. White cap is in front. Yellow egg and yellow are both in front right. White umbrella is in center. Egg is in front."} +{"scene_index": 134, "scene": "The yellow object is at the front. The white lid is in front-right. The yellow egg with a white lid is also in front-right. Another yellow egg is in front. The blue cube umbrella is at the center. A white box is in front."} +{"scene_index": 135, "scene": "green cube is in front right blue cube is on the left and front white box is in front right vitamin b water is at back left and back right white umbrella is on the left and front left yellow egg is at back right mineral water is at back left black cakes are in front right."} +{"scene_index": 136, "scene": "The green cube is in the front-right, the white box is in the front, the vitamin B water is on the right and back-right, the blue cube is in the front, the yellow egg is in the back-right, there are two eggs in the back-right, a box is on the left, another vitamin B water is in the back-right, and the white umbrella is in the front-left."} +{"scene_index": 137, "scene": "Green cube is at front right White box is at front center assumed Blue cube is at front middle assumed White cap or white lid is at front left Vitamin B water is at back left Yellow egg is at back left Black cakes are at back right Mineral water is at back right."} +{"scene_index": 138, "scene": "The white box is in front, the blue cube is in front left, the lid is also in front left, and the vitamin B water is in front."} +{"scene_index": 139, "scene": "Green Cube is located at Front Right, Blue Cube is located at Front, Vitamin B Water is located at Right and Left, Black Cakes are located at Back Right, White Box is located at Front (Two instances), and White Umbrella is located at Left."} +{"scene_index": 140, "scene": "A yellow egg is at front right, a white lid is at front right, another yellow egg is at front right, a white umbrella is at front left, a white lid is at front left, a blue cube is at center, a yellow egg is at front, and a white box is at front."} +{"scene_index": 141, "scene": "The white box is positioned at the front, alongside another white box also at the front. A yellow egg is located in the front right, while a white lid is placed at the front. Additionally, there s a yellow egg on the front left and a vitamin B water bottle at the front. There s also an egg situated at the front position."} +{"scene_index": 142, "scene": "The vitamin B water is at the front right, the green cube is at the back right, and the white box is in front."} +{"scene_index": 143, "scene": "Green cube is at front right Blue cube is in front White box is in front Vitamin B water is at back right Box is in front Vitamin B water is at back left Yellow egg is at back left Black cakes are at back right Mineral is at back right White umbrella is on the left."} +{"scene_index": 144, "scene": "Black cakes are at front left and front positions; a white box is at the front; blue cubes are at front right and front positions; green cubes are at front left and front positions."} +{"scene_index": 145, "scene": "The white lid is located at the front right, the white box is in front, and the yellow egg is also in front."} +{"scene_index": 146, "scene": "Black cakes are in front and black cakes are in front left and black cakes are in front and white lid is in front right and green cube is in front left and white box is in front and blue is in front right."} +{"scene_index": 147, "scene": "Green Cube is located at front right, Vitamin B Water is located at back left, Blue Cube is located at front, White Box is located at front, White Lid is located at front left, Yellow Egg is located at back left, White is located at front left."} +{"scene_index": 148, "scene": "Black cakes are placed in several positions at the front, a white box is situated at the front, an umbrella is located at the front left, and a white lid is placed at the front right."} +{"scene_index": 149, "scene": "White box is front; yellow egg is front; water is front right; egg is front right; blue cube is left."} +{"scene_index": 150, "scene": "The white box is in the front position, with a white lid on top. The yellow egg and black cakes are both located at the front right. Additionally, there s a white cap at the front right as well."} +{"scene_index": 151, "scene": "Black cakes are positioned at the front Black cakes are also in the front left The white lid is located in the front left The white box is placed in the front right A green cube is situated in the front left"} +{"scene_index": 152, "scene": "The green cube is in the front right position; the blue cube and white box are both at the front; the white umbrella is at front right and front left positions; the black cakes are on the right side; there are three bottles of vitamin B water located at center, left, and back right positions."} +{"scene_index": 153, "scene": "White box is in front; yellow egg is also in front; green cube is in front-left; vitamin B water is front."} +{"scene_index": 154, "scene": "Black cakes are at front, white lid is at front right, green cube is at front left, and a white box is at front."} +{"scene_index": 155, "scene": "The green cube is in the front-right position, the blue cube is front, the white box is front, the black cakes are front-right, the white lid is front-left, the vitamin B water and yellow egg are both on the right."} +{"scene_index": 156, "scene": "Green cube is at front right. Vitamin B water is on the right and left. Black cakes are at front right. Yellow egg is at back right. White box is at front right. Blue cube is at front left. Cakes are at front right. Egg is at back right. Box is at back left."} +{"scene_index": 157, "scene": "The green cube is in the front right position, the white box and blue cube are both at the front, the vitamin B water and yellow object are located at the back left, and the white lid is placed at the front left."} +{"scene_index": 158, "scene": "Black cakes are positioned at front left, front, and front; white box is at front; green cube is at front left; and white lid is at front right."} +{"scene_index": 159, "scene": "A white box is at the front. A yellow egg is in the front-right. A green cube and a white cap are both at the front, with the green cube also present on the front-left. Vitamin B water is at the front. Additionally, there s another cube positioned to the left."} +{"scene_index": 160, "scene": "Green cube front right, blue cube front, vitamin B water (first) back left, vitamin B water (second) back right, white box (first) front, white umbrella right, black cakes front right, yellow egg back right, and white box (second) front."} +{"scene_index": 161, "scene": "The yellow egg is at the front, with another yellow egg also in the front. The white lid and two white caps are located at the front right, while one white cap is at the front and another white cap is near the front. Additionally, there is a white box at the front and a white umbrella placed in the center."} +{"scene_index": 162, "scene": "The white box is in front. The vitamin B water is to the front left of it. The green cube is also front left but not directly related. The white cap and white lid are front right along with the black cakes and white umbrella."} +{"scene_index": 163, "scene": "The yellow egg is in the front right position The white lid and white umbrella are also in the front right position together The blue cube and green cube are located on the left side The white box is positioned at the front"} +{"scene_index": 164, "scene": "The white umbrella and white lid are both at the front right, while the white box is in front. The vitamin B water and mineral water are on the front left. The blue cube is on the left."} +{"scene_index": 165, "scene": "The green cube is in the front-right position; the white box is at the front; the blue cube is also at the front; there are two yellow eggs, one in the back-right and another also in the back-right; a white umbrella is at the front-left; vitamin B water is at the back-left and also in the back-right; black cakes are at the front-right; and there s a box on the right."} +{"scene_index": 166, "scene": "The green cube is in the front right. The blue cube is in the front. Vitamin B water is in the back left. The white box is in the front and front right. The umbrella is in the front right. The yellow egg is on the right. B is on the left."} +{"scene_index": 167, "scene": "The white lid is in front left, the green cube is also in front left, while the two white boxes and the egg are both located at the front."} +{"scene_index": 168, "scene": "The green cube is in the front right position. The blue cube is at the front. Two bottles of vitamin B water are located at the back left and back right positions. A white box and black cakes share the front right spot. The yellow egg is at the back left, while another set of black cakes is at the back right."} +{"scene_index": 169, "scene": "The vitamin B water is at the front, with a white box also in front. The first white lid is to the front left of its corresponding white box, and the second white lid is centered over its white box."} +{"scene_index": 170, "scene": "White lid is at front right, green cube is at front left, yellow egg is at front right and front (possibly two eggs), white cap is at front (two caps), box is at front."} +{"scene_index": 171, "scene": "The white box is at the front, while the yellow egg is positioned in the front right area relative to the white box."} +{"scene_index": 172, "scene": "The white box is positioned at the front, with the white lid located in front right and the green cube in front left. In front, there are also a vitamin B water bottle and a yellow egg, both placed at the front."} +{"scene_index": 173, "scene": "The green cube is positioned in the front right area. The vitamin B water is located at the back left. The white box is placed in the front. The yellow egg is situated on the right side. The blue cube is at the front. The black cakes are also in the front right. Lastly, the white umbrella is positioned in the front left."} +{"scene_index": 174, "scene": "The white box is at the front, with a white lid on its front left side and two yellow eggs on its front right side. In the center of the front, there s a bottle of vitamin B water."} +{"scene_index": 175, "scene": "The yellow egg is located at the front-right position The white lid is also situated at the front-right likely covering or associated with another object There is an additional egg placed at the front position A blue cube occupies the central position in the arrangement Lastly a white box is positioned at the front"} +{"scene_index": 176, "scene": "The blue cube is in front. The white box is also in front. The green cube is at the front right. The vitamin B water is in the back left. The yellow egg is at the back right. The mineral water is also in the back left. There s another vitamin B water at the back right. A box is positioned on the right. Cakes are placed at the back right. Another egg, which is yellow, is also at the back right. Lastly, an umbrella is located at the front left."} +{"scene_index": 177, "scene": "The black cakes are positioned at the front and front left, with one also at the front. The white lid is at front right, the white box at front, the green cube and blue cube are both at front left, and the white umbrella is also at front left."} +{"scene_index": 178, "scene": "The yellow egg is at the front-right, with a white lid also in the front-right. A white cap is next to them, both positioned front-right as well. The white box is slightly behind these objects but still in the front area, and there s an additional white item located directly in front."} +{"scene_index": 179, "scene": "The green cube is in the front right, the blue cube is in the front and also front left, the vitamin B water is in the back left and back right, the yellow egg is in the back right, the paper box is on the right, the white box is in the front, the black cakes and white umbrella are in the front right, and there s another egg in the back right."} +{"scene_index": 180, "scene": "The white box is at the front. The green cube labeled Vitamin B Water is in the front-left corner. Two white caps (one with a white lid) are on the right side. A white cap is also in the front-left corner. Black cakes are positioned on the front-right."} +{"scene_index": 181, "scene": "The white cap and white lid are at the front right the vitamin B water is at the front left the white box is at the front the black cakes are at the front right the vitamin water is at the front left the green cube is at the front left the umbrella is at the front left the blue cube is in the center."} +{"scene_index": 182, "scene": "The yellow egg is at front right, the white lid is at front left, the white box is at front, the blue cube is at front left, and the water is at front right."} +{"scene_index": 183, "scene": "The white cap white lid is at the front right, with the vitamin B water at front left. The umbrella is also at front right, while the green cube and white box are both at front left; there s another green cube at front left, and a white umbrella at front right."} +{"scene_index": 184, "scene": "The green cube is at the front right, the blue cube is in front of it, the vitamin B water bottles are positioned on the right (front), back left, and back right, while the white box is also at the front. The white umbrella and paper box are both located on the left side."} +{"scene_index": 185, "scene": "In this arrangement, two yellow eggs are positioned in the front, with one specifically at the front right. A white lid is located on the left, while another white lid is placed at the front right along with a white box also situated in the front."} +{"scene_index": 186, "scene": "The green cube is at the front right, the blue cube is in front, the vitamin B water is on the right and back left, the black cakes are at the front right, the white box is in front, the yellow eggs are at the back right, the paper box is on the left, and another white box is also in front."} +{"scene_index": 187, "scene": "The yellow egg is at front right. The white umbrella is at front right. The white cap is at front. The green cube is at left. The white umbrella (again) is at front right. The white box is at front."} +{"scene_index": 188, "scene": "The black cakes are positioned at the front, with one specifically located in the front left. The white lid is placed at the front right, and the white box is situated at the front."} +{"scene_index": 189, "scene": "The yellow egg is positioned in the front right, with the white box placed directly in front. To its front right as well is a white cap, while another white lid is situated on the right side. Additionally, there s a white cap located at the front."} +{"scene_index": 190, "scene": "The white box is in the front. The black cakes are in the front left and front positions. The white lids are in the front right. The umbrella is in the front left."} +{"scene_index": 191, "scene": "The white box is at the front, while the black cakes are located at the front and front left positions."} +{"scene_index": 192, "scene": "Yellow egg is located at front right, white lid is located at front right, white cap is located at front, front right, front, front left, front left, egg is located at front, white box is located at front."} +{"scene_index": 193, "scene": "The green cube is positioned at front right, the white box is positioned at front, the blue cube is positioned at front, the black cakes are positioned at front right and back right, the yellow egg is positioned at center, the vitamin b water is positioned at center, left, and back right, the white lid is positioned at right, the white umbrella is positioned at front left, and the box is positioned at back left."} +{"scene_index": 194, "scene": "The green cube is at front right, the white box and blue cube are at front, the vitamin B water bottles are at back left and back right, the yellow egg and mineral water are at back left and back right, respectively, and the white lid is at front left."} +{"scene_index": 195, "scene": "The green cube is at the front right, the white box is at the front, and the black cakes are also at the front right. The blue cubes are on the left side, with one specifically noted as well. The yellow eggs and vitamin B water are both positioned at the back right, while the white lid is at the front left alongside the white umbrella, which shares its position."} +{"scene_index": 196, "scene": "Black cakes are at the front, with one specifically in the front left; a white box is also located at the front."} +{"scene_index": 197, "scene": "The green cube is positioned in the front right, while the blue cube is located at the front left and the white box is at the front. The yellow egg is placed in the back right. There are multiple bottles of vitamin B water positioned across different areas, including the right, left, and back right. Additionally, there are black cakes situated at the front right."} +{"scene_index": 198, "scene": "Black cakes are positioned at front left, front, and front. The white lid is at front right, the green cube is at front left, and the blue cube and white box are both at front right."} +{"scene_index": 199, "scene": "Black cakes are positioned at front left, front, and front; white lid is at front right; green cube is at front left; and white box is at front."} +{"scene_index": 200, "scene": "The green cube is in the front right, with a white box and black cakes nearby also in the front. The blue cube is in front of the vitamin B water, which is at the back left. A yellow egg is on the back right, alongside another yellow egg and an egg. The white umbrella is at the front left, while mineral water is at the back left."} +{"scene_index": 201, "scene": "The white box is in the front. The vitamin B water and green cube are both in the front left. The white lid and white umbrella are both in the front right. Additionally, there is another white umbrella in the front left along with another vitamin B water."} +{"scene_index": 202, "scene": "White box is in the front, Vitamin B Water (1) is in the front left, Vitamin B Water (2) is also in the front left, White cap with a white lid is in the front right, Blue cube is also in the front right, White umbrella is on the left."} +{"scene_index": 203, "scene": "The white box is at the front; the yellow eggs are in the front-right; the blue cube is in the front-left; the white lid is also in the front-left."} +{"scene_index": 204, "scene": "The white lid is on top of the white umbrella in the front-right area, while a yellow egg and a yellow object are nearby also in the front-right section. A separate egg is positioned slightly further back at the front, alongside a white box that s placed in the front part of the scene."} +{"scene_index": 205, "scene": "The yellow egg is in the front. The white lid umbrella is in the front right. The white cap (1st) is in the front right. The yellow color is in the front. The green cube is in the front left. The white cap (2nd) is in the front left. The white cap (3rd) is in the front left. The white cap (4th) is in the front. The white box is in the front."} +{"scene_index": 206, "scene": "The black cakes are at the front, with some positioned front and others front left; a white box with a white lid is also at the front; an umbrella and a green cube are located in the front left area; a white box is placed at the front right; and a blue object is situated at the front left."} +{"scene_index": 207, "scene": "The white box is at the front. The black cakes are at the front and front left. The white lid is at the front right. The green cube is at the front left."} +{"scene_index": 208, "scene": "blue cube is in the front left yellow egg is in the front white lid is in the front right white box is in the front yellow egg is in the front right white lid is in the front left egg is in the front right egg is in the front left green is in the front left"} +{"scene_index": 209, "scene": "The yellow egg is at the front right, near the white lid and white box. The white umbrella is at the front left, alongside the green cube. A blue cube is in the center."} +{"scene_index": 210, "scene": "The green cube is at the back right, the yellow egg is at the front left, the vitamin B water is at the front right, the white box is at the front, and the blue cube is on the left."} +{"scene_index": 211, "scene": "The black cakes are positioned in front left, front, and front, while the white box is at front and the white lid is at front right."} diff --git a/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/subtask_annotations.jsonl b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6deab5a7d2db05abc7c2e193077bb282a78b05b2 --- /dev/null +++ b/AIRBOT_MMK2_take_down_umbrella_and_mineral_water/annotations/subtask_annotations.jsonl @@ -0,0 +1,22 @@ +{"subtask_index": 0, "subtask": "Place the cake on the table with the left gripper"} +{"subtask_index": 1, "subtask": "Place the mineral water on the table with the left gripper"} +{"subtask_index": 2, "subtask": "Grasp the umbrella on the white lid with the right gripper"} +{"subtask_index": 3, "subtask": "Grasp the cake from the white basket with the right gripper"} +{"subtask_index": 4, "subtask": "Grasp the vitamin B water on the white lid with the left gripper"} +{"subtask_index": 5, "subtask": "Place the umbrella on the table with the right gripper"} +{"subtask_index": 6, "subtask": "Grasp the blue cube block on the paper box with the left gripper"} +{"subtask_index": 7, "subtask": "Place the green cube block on the table with the right gripper"} +{"subtask_index": 8, "subtask": "End"} +{"subtask_index": 9, "subtask": "Grasp the cake from the white basket with the left gripper"} +{"subtask_index": 10, "subtask": "Place the blue cube block on the table with the left gripper"} +{"subtask_index": 11, "subtask": "Grasp the mineral water on the white lid with the left gripper"} +{"subtask_index": 12, "subtask": "Place the vitamin B water on 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