diff --git a/RMC-AIDA-L_food_packaging/.gitattributes b/RMC-AIDA-L_food_packaging/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/RMC-AIDA-L_food_packaging/README.md b/RMC-AIDA-L_food_packaging/README.md new file mode 100644 index 0000000000000000000000000000000000000000..27647ab3d6af1aeffdf4baacc45d2ec6564afb5d --- /dev/null +++ b/RMC-AIDA-L_food_packaging/README.md @@ -0,0 +1,339 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +frame_range: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# RMC-AIDA-L_food_packaging + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `realman_rmc_aidal` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `kitchen` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` +- `pull` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 497 | +| **Total Frames** | 817652 | +| **Total Tasks** | 2 | +| **Total Videos** | 1491 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 9.4GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag. +the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, bananna and peach and place them into the bag, the right gripper zip up the bag. + +### Sub-Tasks +This dataset includes 16 distinct subtasks: + +1. **Grab the pear with your right hand.** +2. **Pick up the lunch box with your right hand.** +3. **end** +4. **Put the cucumber into the lunch bag with your right hand.** +5. **Hold the lunch bag with your left hand.** +6. **Secure the lunch bag with your left hand.** +7. **Pick up the cucumber with your right hand.** +8. **Hold the lunch bag with your right hand.** +9. **Take the banana with your right hand.** +10. **Place the lunch box into the lunch bag with your right hand.** +11. **Place the peach into the lunch bag with your right hand.** +12. **Zip up the lunch bag with your right hand.** +13. **Put the banana into the lunch bag with your right hand.** +14. **Place the pear into the lunch bag with your right hand.** +15. **Grab the peach with your right hand.** +16. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:496 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.cam_high_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.cam_right_wrist_rgb**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features +- **gripper_open_scale_state**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_open_scale_action**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_mode_state**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_mode_action**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_activity_state**: int32 + - Dimensions: left_gripper_activity, right_gripper_activity + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "realman_rmc_aidal", "total_episodes": 497, "total_frames": 817652, "total_tasks": 2, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:496"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [28], "names": ["right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [28], "names": ["right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +RMC-AIDA-L_food_packaging_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/RMC-AIDA-L_food_packaging/annotations/eef_acc_mag_annotation.jsonl b/RMC-AIDA-L_food_packaging/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/RMC-AIDA-L_food_packaging/annotations/eef_direction_annotation.jsonl b/RMC-AIDA-L_food_packaging/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/RMC-AIDA-L_food_packaging/annotations/eef_velocity_annotation.jsonl b/RMC-AIDA-L_food_packaging/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/RMC-AIDA-L_food_packaging/annotations/gripper_activity_annotation.jsonl b/RMC-AIDA-L_food_packaging/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/RMC-AIDA-L_food_packaging/annotations/gripper_mode_annotation.jsonl b/RMC-AIDA-L_food_packaging/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/RMC-AIDA-L_food_packaging/annotations/scene_annotations.jsonl b/RMC-AIDA-L_food_packaging/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0767c8300a3efb4c97ae553383ecd75649a325c7 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/scene_annotations.jsonl @@ -0,0 +1,501 @@ +{"scene_index": 0, "scene": "The bag is in the front left, the pear is at the back right, the cucumber is on the right, and the lunch box is in the front right."} +{"scene_index": 1, "scene": "The banana is on the right, the lunchbox is in front-right, and the bag is on the left."} +{"scene_index": 2, "scene": "The cucumber is at the back right, the pear is also at the back right, the lunch box is on the right, and the bag is on the left."} +{"scene_index": 3, "scene": "The cucumber is at the back right, the bag is on the left, and the pear is at the front right."} +{"scene_index": 4, "scene": "The bag is positioned at the center, while the banana is located to the right."} +{"scene_index": 5, "scene": "The cucumber is at the back right, the lunch box is on the right, and the bag is at the back."} +{"scene_index": 6, "scene": "The pear is centered, the bag is in the front left, the cucumber is on the right, and the lunch box is at the front right."} +{"scene_index": 7, "scene": "The cucumber is positioned at the back right, the pear is on the right, and there are two bags located on the left."} +{"scene_index": 8, "scene": "Cucumber is on the right side. Pear is at the back right. Bag is in the center. Lunch box is at the front right."} +{"scene_index": 9, "scene": "The bag is on the left, the banana is at the back right, the lunchbox is on the right, and the peach is in the front right."} +{"scene_index": 10, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 11, "scene": "The bag is at the center, and the banana is on the right side."} +{"scene_index": 12, "scene": "pear is in front right bag is in front left lunch box is in front right cucumber is in back right"} +{"scene_index": 13, "scene": "The bag is located at the front left, the banana is positioned at the back right, and the lunch box is placed at the front right."} +{"scene_index": 14, "scene": "The bag is positioned at the center."} +{"scene_index": 15, "scene": "The bag is at the front, the pear is at the front right, and the cucumber is on the right."} +{"scene_index": 16, "scene": "The pear is on the right side, the bag is on the left, the cucumber is also on the right, and the lunch box is located in the front right area."} +{"scene_index": 17, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in front-right."} +{"scene_index": 18, "scene": "The banana is positioned at the back right, while the bag is located on the left. The lunchbox is situated on the right side, and another bag is also placed on the left."} +{"scene_index": 19, "scene": "The bag is at front left, the banana is at back right, and the lunchbox is at front right."} +{"scene_index": 20, "scene": "The bag is positioned on the left side, while the banana is located at the back right position."} +{"scene_index": 21, "scene": "The bag is on the left, the lunch box is in the front right, and the banana is at the back right."} +{"scene_index": 22, "scene": "The bag is on the left, the banana is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 23, "scene": "The banana is positioned at the back right, the bag is in the center, and the lunchbox is located at the front right."} +{"scene_index": 24, "scene": "Cucumber is at back right, pear is at back right, lunch box is at right, and bag is at center."} +{"scene_index": 25, "scene": "The bag is in the front left, the banana is in the front right, the pear is also in the front right, and the lunch box is on the right."} +{"scene_index": 26, "scene": "The bag is placed at the center position."} +{"scene_index": 27, "scene": "The bag is on the left, the banana is in the front-right, and the lunch box is on the right."} +{"scene_index": 28, "scene": "The bag is positioned at the front, the pear is at the front right, the cucumber is at the back right, and the lunch box is on the right side."} +{"scene_index": 29, "scene": "The cucumber is at the back right, the pear is also at the back right, the bag is in the center, and the lunch box is on the right."} +{"scene_index": 30, "scene": "The bag is positioned at the front."} +{"scene_index": 31, "scene": "The pear is on the right, the cucumber is at the back right, the bag is in the front left, and the lunch box is also on the right."} +{"scene_index": 32, "scene": "The bag is located at the center, while the banana is situated at the back right position."} +{"scene_index": 33, "scene": "The banana is at the back right, the lunchbox is on the right, and the bag is on the left."} +{"scene_index": 34, "scene": "The banana is located at the back right position, while the bag is positioned at the front."} +{"scene_index": 35, "scene": "The pear is at the back right, the cucumber is on the right, and the bag is in the center."} +{"scene_index": 36, "scene": "The cucumber is located at the back right, while the bag is positioned in the center."} +{"scene_index": 37, "scene": "The cucumber is positioned at the back right, the pear is on the right, and the bag is in the center."} +{"scene_index": 38, "scene": "The bag is on the left, the banana is in the back right, and the lunchbox is on the right."} +{"scene_index": 39, "scene": "The bag is on the left, the banana is at the front right, and the lunch box is on the right."} +{"scene_index": 40, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 41, "scene": "Cucumber is located at the back right, pear is also at the back right, lunch box is on the right side, and bag is placed in the center."} +{"scene_index": 42, "scene": "The cucumber is on the right, the bag is on the left, the pear is at the back right, and the lunch box is in front of the right."} +{"scene_index": 43, "scene": "Banana is located at the back-right position The first Bag is in the center The Lunch Box is on the right side The second Bag is on the left."} +{"scene_index": 44, "scene": "The bag is centered, while the cucumber and lunch box are both on the right side. The pear is positioned at the back right."} +{"scene_index": 45, "scene": "The cucumber is located at the back right, sharing that same position with the pear, while the bag is centrally positioned."} +{"scene_index": 46, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 47, "scene": "The bag is on the left, the banana is at the back right, and the lunchbox is at the front right."} +{"scene_index": 48, "scene": "The bag is positioned at the center, while the banana is located at the back right."} +{"scene_index": 49, "scene": "The pear is front-right, the bag is front-left, the lunchbox is on the right, and the cucumber is at the back right."} +{"scene_index": 50, "scene": "The banana is located at the back right, while the bag is centrally positioned."} +{"scene_index": 51, "scene": "The banana is located at the back right, the lunchbox is on the right, one bag is in the center, and another bag is on the left."} +{"scene_index": 52, "scene": "The cucumber is on the right, the bag is on the left, the pear is at the back right, and the lunch box is at the front right."} +{"scene_index": 53, "scene": "The bag is positioned at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 54, "scene": "The cucumber is in the back right, the pear is in the back right with the cucumber, the bag is in the back behind both, and the peach is in the back right near the pear."} +{"scene_index": 55, "scene": "The bag is located at the front left The banana is positioned at the back right The lunch box is placed at the front right"} +{"scene_index": 56, "scene": "The cucumber is at the back right, the pear is at the right, the bag is on the left, and the lunch box is at the front right."} +{"scene_index": 57, "scene": "The pear is in front right, the bag is on the left, the cucumber is at back right, and the lunch box is on the right."} +{"scene_index": 58, "scene": "Cucumber is on the right side, pear is at the back right, bag is on the left, and there are two lunch boxes both positioned in the front right."} +{"scene_index": 59, "scene": "The bag is located at the front, and the banana is on the right side."} +{"scene_index": 60, "scene": "The bag is on the left, the banana is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 61, "scene": "Cucumber is positioned at front right pear is positioned at right bag is positioned at center."} +{"scene_index": 62, "scene": "The banana is positioned at the back right, the lunch box at the front right, and the bag is in the center."} +{"scene_index": 63, "scene": "The cucumber is at the back right, the pear is on the right, the bag is on the left, and there are two lunch boxes at the front right."} +{"scene_index": 64, "scene": "The pear is in the front right position, the bag is at the front left, the lunch box is on the right, and the cucumber is at the back right."} +{"scene_index": 65, "scene": "The bag is at the front left, the lunch box is on the right, and two bananas are both located at the back right."} +{"scene_index": 66, "scene": "The cucumber and pear are both located at the back right, while the bag is positioned in the center."} +{"scene_index": 67, "scene": "Banana is at front right, bag is at front left, lunch box is on the right, pear is at front right."} +{"scene_index": 68, "scene": "The bag is positioned on the left. The cucumber is located at the back right. The pear is also located at the back right. The lunch box is positioned on the right."} +{"scene_index": 69, "scene": "The pear is on the right, the bag is on the left, the cucumber is at the back right, another cucumber is also at the back right, and the lunch box is in the front right."} +{"scene_index": 70, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 71, "scene": "The bag is located at the front left, while the lunch box is positioned on the right side."} +{"scene_index": 72, "scene": "The bag is in the front left, the pear is on the right, the cucumber is at the back right, and the lunch box is also on the right."} +{"scene_index": 73, "scene": "The bag is positioned at the front left."} +{"scene_index": 74, "scene": "The bag is centered, while the banana is positioned at the back right."} +{"scene_index": 75, "scene": "The bag is on the left, the banana is at the back right, and the lunchbox is in front of it."} +{"scene_index": 76, "scene": "The banana is at the back right, the bag is on the left, the lunch box is at the front right, and another bag is in the center."} +{"scene_index": 77, "scene": "The cucumber is on the right side, alongside the pear also placed to the right. The lunch box is located at the front-right area, while the bag is centrally positioned."} +{"scene_index": 78, "scene": "The bag is centered, while the cucumber and pear are both located in the back right area."} +{"scene_index": 79, "scene": "The bag is located at the front left position."} +{"scene_index": 80, "scene": "The bag is at the center, the lunch box is in the front right, and the banana is on the right."} +{"scene_index": 81, "scene": "Banana is at back right, bag is on the left, lunch box is on the right."} +{"scene_index": 82, "scene": "The cucumber is at the back right, the bag is at the front left, and the pear is on the right."} +{"scene_index": 83, "scene": "The bag is positioned at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 84, "scene": "The pear is in the center, the bag is at the front left, the cucumber is at the back right, and the lunch box is on the right."} +{"scene_index": 85, "scene": "The bag is positioned on the left side."} +{"scene_index": 86, "scene": "The bag is on the left, and the banana is at the back right."} +{"scene_index": 87, "scene": "The bag is at front left, the pear is on the right, the cucumber is at back right, and the lunch box is at front right."} +{"scene_index": 88, "scene": "The pear is located at the back right, while the bag is centered."} +{"scene_index": 89, "scene": "The pear is in the front-right position, the cucumber is at the back-right, the bag is on the front-left, and the lunch box is on the right side."} +{"scene_index": 90, "scene": "The cucumber and pear are both in the back right. The lunch box is on the right. The two bags are on the left."} +{"scene_index": 91, "scene": "The bag is on the left, the pear is on the right, the cucumber is at the back right, and the lunch box is at the front right."} +{"scene_index": 92, "scene": "The cucumber is located at the back right, sharing the same position as the pear, while the bag is centrally positioned."} +{"scene_index": 93, "scene": "The banana is located at the back right position, while the bag is centrally positioned."} +{"scene_index": 94, "scene": "The cucumber is positioned at back right, with the pear also located at back right, while the bag is placed at the back."} +{"scene_index": 95, "scene": "The bag is located at the front left, while the lunch box is positioned on the right."} +{"scene_index": 96, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 97, "scene": "The bag is at front left, pear and cucumber are both at back right, and lunch box is on the right."} +{"scene_index": 98, "scene": "Cucumber is at back right, pear is at right, bag is at left, and lunch box is at front right."} +{"scene_index": 99, "scene": "The bag is on the left, the banana is at the back right, and the lunchbox is in the front right."} +{"scene_index": 100, "scene": "The bag is located at the front left position, while the lunch box is situated at the front right position."} +{"scene_index": 101, "scene": "The bag is placed at the center position."} +{"scene_index": 102, "scene": "The cucumber is located at the back right position, sharing the same location as the pear and peach. A bag is placed on the left side, while another bag is positioned in the center."} +{"scene_index": 103, "scene": "The bag is located at the center, while the pear is positioned on the right side."} +{"scene_index": 104, "scene": "The pear is at the back right, the bag is in the center, and the cucumber is on the right."} +{"scene_index": 105, "scene": "The cucumber is at the back right, the pear is also at the back right, and the bag is on the left."} +{"scene_index": 106, "scene": "The banana is located at the back right, the bag is centered, the lunch box is at the front right, and another bag shares the same central position."} +{"scene_index": 107, "scene": "Cucumber is on the right side; pear is also on the right side; bag is on the left side; lunch box is at the front-right position."} +{"scene_index": 108, "scene": "The cucumber is located at the back right, the pear is positioned on the right side, the bag is placed on the left, and the lunch box is situated at the front right."} +{"scene_index": 109, "scene": "The lunch box is at the front right, the bag is in the center, and the banana is on the right."} +{"scene_index": 110, "scene": "Cucumber is located at the back right. Bag is on the left side. Pear is placed at the back right. Lunch box is situated to the right."} +{"scene_index": 111, "scene": "The bag is at the center, while Anna is positioned at the back right."} +{"scene_index": 112, "scene": "The bag is located at the front-left, the banana is positioned at the back-right, and the lunch box is placed on the right side."} +{"scene_index": 113, "scene": "The bag is located at the center position."} +{"scene_index": 114, "scene": "The bag is positioned on the left side."} +{"scene_index": 115, "scene": "The bag is at front left, the banana is at back right, the lunchbox is on the right, and the pear is at front."} +{"scene_index": 116, "scene": "The banana is located at the back right, the bag is in front, and the lunchbox is positioned at the front right."} +{"scene_index": 117, "scene": "The bag is located at the front left, the banana is positioned at the back right, and the lunch box is on the right."} +{"scene_index": 118, "scene": "The pear is at the center, the bag is in the front left, the cucumber is in the back right, and the lunch box is in the front right."} +{"scene_index": 119, "scene": "The bag is at the front left, the banana is at the back right, and the lunch box is at the front right."} +{"scene_index": 120, "scene": "Cucumber is at back right, pear is also at back right; bag is in the center; lunch box is on the right."} +{"scene_index": 121, "scene": "The pear is at the front right, the cucumber is at the back right, the bag is at the front left, and the lunch box is on the right side."} +{"scene_index": 122, "scene": "The pear is in the front-right, the bag is in the front-left, the cucumber is at the back-right, and the lunch box is on the right."} +{"scene_index": 123, "scene": "The lunch box is on the right, cucumber is also on the right. Two bags are both on the left, and the pear is at the back right."} +{"scene_index": 124, "scene": "The cucumber is on the right, the bag is in front, the pear is at front right, and the lunch box is also on the right."} +{"scene_index": 125, "scene": "The banana is on the right side, and the bag is in front of it."} +{"scene_index": 126, "scene": "Cucumber is at back right, bag is at left, pear is at back right, and lunchbox is at front right."} +{"scene_index": 127, "scene": "The pear is at the front right, the cucumber is at the back right, the bag is on the left, and the lunch box is on the right."} +{"scene_index": 128, "scene": "The bag is positioned at the center."} +{"scene_index": 129, "scene": "The pear is in the front right, the bag is in the front left, the cucumber is in the back right, and the lunch box is on the right side."} +{"scene_index": 130, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 131, "scene": "The banana is at the back right, the bag is in the center, and the lunchbox is on the right."} +{"scene_index": 132, "scene": "Cucumber is at back right. Bag is on left. Lunch box is on right. Bag is in center. Pear is at back right."} +{"scene_index": 133, "scene": "The bag is on the left, the banana is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 134, "scene": "cucumber is at back right bag is at front bag is at front left cucumber is at right"} +{"scene_index": 135, "scene": "The pear and cucumber are both on the right side, while the bag is centered."} +{"scene_index": 136, "scene": "The bag is positioned at the front, while the lunch box is located on the right side."} +{"scene_index": 137, "scene": "The pear is at the front right, the bag is at the front left, the lunch box is also at the front right, and the cucumber is at the back right."} +{"scene_index": 138, "scene": "The bag is centered, while the lunch box is positioned to its right side."} +{"scene_index": 139, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 140, "scene": "The bag is at the front left, the banana is at the back right, and the box is on the right."} +{"scene_index": 141, "scene": "The cucumber is at the back right, the pear is at the front right, the bag is at the front left, the lunch box is on the right."} +{"scene_index": 142, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is at the front right."} +{"scene_index": 143, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 144, "scene": "The bag is located at the front left, while the banana is positioned on the right."} +{"scene_index": 145, "scene": "The cucumber is at the back right, the pear is at the right, the bag is at the front left, and the lunch box is at the front right."} +{"scene_index": 146, "scene": "The pear is in the front right, the bag is on the left, the lunch box is on the right, and the cucumber is at the back right."} +{"scene_index": 147, "scene": "The banana is located at the back right, the bag is centered, and the lunchbox is positioned on the right."} +{"scene_index": 148, "scene": "Cucumber is at back right. Bag is at left. Pear is at back right."} +{"scene_index": 149, "scene": "The bag is at the front left, the banana is at the back right, and the lunch box is at the front right."} +{"scene_index": 150, "scene": "Cucumber and pear are both located at back right, bag is in the center, lunch box is on the right, and another bag is also in the center."} +{"scene_index": 151, "scene": "The cucumber is located at the back right, the pear is on the right, the bag is on the left, and the lunch box is at the front right."} +{"scene_index": 152, "scene": "Cucumber is at back right, bag is at front left, pear is at front right, and lunch box is on the right."} +{"scene_index": 153, "scene": "The bag is at the front-left, the banana is at the back-right, and the lunch box is at the front-right."} +{"scene_index": 154, "scene": "The cucumber is at the back right, the pear is on the right, the bag is at the front left, and the lunch box is at the front right."} +{"scene_index": 155, "scene": "Cucumber is at the back right, bag is in the center, lunch box is on the right, and pear shares the same back right position as cucumber."} +{"scene_index": 156, "scene": "The bag is on the left, while the banana and lunch box are both on the right."} +{"scene_index": 157, "scene": "The bag is positioned at the center."} +{"scene_index": 158, "scene": "The pear is on the right, the bag is at the front left, the lunch box is at the front right, and there are two cucumbers at the back right."} +{"scene_index": 159, "scene": "The cucumber is at the back right, the bag is at the front left, the pear is on the right, and the lunch box is at the front right."} +{"scene_index": 160, "scene": "Banana is on the right, lunch box is on the right, bag is in front, bag is in the front-left."} +{"scene_index": 161, "scene": "cucumber is at the back right bag is in the center lunch box is on the right pear is at the back right"} +{"scene_index": 162, "scene": "The bag is at center, while the cucumber and pear are both positioned at back right, with the lunch box placed on the right side."} +{"scene_index": 163, "scene": "The bag is positioned on the left, a banana is at the back right, and another bag is in the center."} +{"scene_index": 164, "scene": "The banana is located at the back right position, while the bag is centered."} +{"scene_index": 165, "scene": "The bag is in front, while the lunch is on the right."} +{"scene_index": 166, "scene": "The pear is in the front right position, the cucumber is on the right side, the bag is at the front, and the lunch box shares the front right spot with the pear."} +{"scene_index": 167, "scene": "The bag is positioned at the center, while the cucumber is located at the back right."} +{"scene_index": 168, "scene": "The bag is located at the front left, the banana is positioned at the back right, and the lunch box is situated on the right side."} +{"scene_index": 169, "scene": "The pear is at the back right, sharing that position with the cucumber, while the bag is centered."} +{"scene_index": 170, "scene": "The pear is at the back right, cucumber is also at the back right, bag is at the back left, and lunch box is on the right."} +{"scene_index": 171, "scene": "The bag is at front left, the banana is at back right, there are two lunch boxes, one at right and another at front right."} +{"scene_index": 172, "scene": "The banana is positioned at the back right, a bag is in the center, and another bag is on the left."} +{"scene_index": 173, "scene": "The bag is placed at the center position."} +{"scene_index": 174, "scene": "The bag is located at the front-left position."} +{"scene_index": 175, "scene": "The pear is at the front right, the cucumber is at the back right, the bag is at the front left, and the lunch box is on the right."} +{"scene_index": 176, "scene": "The cucumber is at the back right, the pear is also at the back right, a bag is on the left, and another bag is in the center."} +{"scene_index": 177, "scene": "Cucumber is located at the back right, pear is positioned on the right side, bag is situated at the front left, and lunch box is placed at the front right."} +{"scene_index": 178, "scene": "The bag is located at the front-left position."} +{"scene_index": 179, "scene": "The banana is positioned at the back right, the bag is centered, and another bag is on the left."} +{"scene_index": 180, "scene": "Cucumber is at back right, pear is at center, bag is at front left, lunch box is at front right, and peach is also at center."} +{"scene_index": 181, "scene": "Cucumber is at the back right bag is at the front left pear is on the right lunch box is at the front right"} +{"scene_index": 182, "scene": "The banana is located at the back right, the lunch box is at the front right, and the bag is positioned in front."} +{"scene_index": 183, "scene": "The banana is at the back right, with two bags in the center and the lunch box at the front right."} +{"scene_index": 184, "scene": "Pear is located at front right, cucumber is located at front right, bag is located at front, and lunch box is located at right."} +{"scene_index": 185, "scene": "The bag is at the center, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 186, "scene": "The cucumber and pear are both located at the back right position, while the bag is placed on the left side."} +{"scene_index": 187, "scene": "The bag is positioned at the front left."} +{"scene_index": 188, "scene": "The bag is at the center, the pear is at the back right, and the cucumber is on the right."} +{"scene_index": 189, "scene": "The banana is located at the back right, the bag is in the center, and the lunchbox is positioned at the front right."} +{"scene_index": 190, "scene": "The banana is located at the back right position, the lunch box is positioned at the front right, and the bag is placed in the center."} +{"scene_index": 191, "scene": "The banana is positioned at the back right, while the bag is located at the front."} +{"scene_index": 192, "scene": "The banana is on the right, the lunchbox is in front right, and the bag is on the left."} +{"scene_index": 193, "scene": "The cucumber is at the back right, the bag is on the left, and there are two pears both positioned to the right."} +{"scene_index": 194, "scene": "The cucumber and pear are both located in the back right corner, the lunch box is on the right side, and the bag is centered."} +{"scene_index": 195, "scene": "The cucumbers are at the back right and right positions, while there are two bags located at the center and left positions."} +{"scene_index": 196, "scene": "The bag is at front left, the banana is at front right, and the box is on the right side."} +{"scene_index": 197, "scene": "The banana is on the right, the bag is on the left, and the lunch box is in the front-right."} +{"scene_index": 198, "scene": "The bag is placed at the center position."} +{"scene_index": 199, "scene": "The banana is at the back right, the bag is in front, and the lunchbox is on the right."} +{"scene_index": 200, "scene": "The pear is in the front right, the bag is in the front left, the cucumber is on the right, and the lunch box is also in the front right."} +{"scene_index": 201, "scene": "The pear is at the back right, the cucumber is also at the back right, the lunch box is on the right, one bag is in the center, and the other bag is on the left."} +{"scene_index": 202, "scene": "The bag is centered, the banana is located at the back right, and the lunchbox is placed in the front right."} +{"scene_index": 203, "scene": "Pear is at the front right, cucumber is at the back right, bag is at the front left, and lunch box is at the right."} +{"scene_index": 204, "scene": "The bag is on the left, the cucumber and banana are both on the right, and the lunch box is in the front-right."} +{"scene_index": 205, "scene": "The banana is positioned at the back right, the bag is in the center, and the lunchbox is on the right."} +{"scene_index": 206, "scene": "Cucumber is in the back right, pear is on the right, two bags are on the left, and two lunch boxes are on the right."} +{"scene_index": 207, "scene": "The bag is located at the center, while the banana is situated at the back right position."} +{"scene_index": 208, "scene": "The banana is positioned at the back right, while two bags are located in the center and to the left of it."} +{"scene_index": 209, "scene": "The cucumber is located at the back right, the pear is on the right, one bag is on the left, and another bag is in the center."} +{"scene_index": 210, "scene": "A cucumber is located at the back right position, while a bag is centrally positioned."} +{"scene_index": 211, "scene": "The cucumber is at the back right, the bag is centered, and the pear is on the right."} +{"scene_index": 212, "scene": "The bag is positioned at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 213, "scene": "The bag is on the left, and the banana is on the right."} +{"scene_index": 214, "scene": "The banana is positioned at the front right, the bag is on the left, and the lunch box is on the right."} +{"scene_index": 215, "scene": "The pear is at the center, the bag is in front-left, the cucumber is at back-right, and the lunch box is on the right."} +{"scene_index": 216, "scene": "The bag is located on the back of the individual, specifically at the back left position."} +{"scene_index": 217, "scene": "The bag is in the front left, the pear is in the center, the lunch box is on the right, and the cucumber is at the back right."} +{"scene_index": 218, "scene": "The bag is located at the front left position."} +{"scene_index": 219, "scene": "Cucumber is located at the back right, pear is positioned to the right, bag is in the center, and lunch box is placed at the front right."} +{"scene_index": 220, "scene": "Cucumber is on the right, pear is on the right, bag is in front-left, lunch box is in front-right."} +{"scene_index": 221, "scene": "The bag is at center. The cucumber is at back right. The pear is at back right. The lunch box is at right. The bag is at left."} +{"scene_index": 222, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 223, "scene": "The cucumber and pear are both located in the back right area, while the lunch box is positioned on the right side. The bag is centrally placed."} +{"scene_index": 224, "scene": "The cucumber is at the back right, the pear is on the right, the bag is in the center, and the lunch box is at the front right."} +{"scene_index": 225, "scene": "Cucumber is at the back right, bag is at the front left, pear and lunch box are both on the right."} +{"scene_index": 226, "scene": "Banana is located at the back right. The lunchbox is positioned on the right side. One bag is placed on the left, another in the center."} +{"scene_index": 227, "scene": "The bag is in the front-left position, the pear is at the back, the cucumber and lunch box are on the right side, and the lunch is in the front-right position."} +{"scene_index": 228, "scene": "The cucumber is located at the back right, the pear is placed at the front right, the lunch box is situated on the right side, and the bag is positioned at the front left."} +{"scene_index": 229, "scene": "The pear is at front right, the bag is at front left, the cucumber is at back right, and the lunch box is on the right."} +{"scene_index": 230, "scene": "Cucumber is at the back right, lunch box is on the right, bag is in the center, and another bag is on the left."} +{"scene_index": 231, "scene": "The cucumber is on the right, the bag is in the front left, the pear is also on the right, and the lunch box is in the front right."} +{"scene_index": 232, "scene": "The bag is located at the front left, the banana is positioned at the back right, and the lunchbox is placed at the front right."} +{"scene_index": 233, "scene": "The bag is located to the right, while the banana is positioned at the back right."} +{"scene_index": 234, "scene": "The bag is located at the front left, the banana is on the right, and the lunch box is positioned at the back right."} +{"scene_index": 235, "scene": "The bag is centered, while the banana is positioned at the back right."} +{"scene_index": 236, "scene": "The banana is positioned at the back right location."} +{"scene_index": 237, "scene": "The cucumber is located at the back right, sharing that same position with the pear, while the bag is centrally positioned."} +{"scene_index": 238, "scene": "The bag is located at front left, the banana is on the right, and the lunch box is at front right."} +{"scene_index": 239, "scene": "The bag is at the front-left, the banana is at the back-right, and the lunch box is at the front-right."} +{"scene_index": 240, "scene": "The cucumber is located at the back right, with two bags placed in the center and on the left."} +{"scene_index": 241, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 242, "scene": "Banana is at back right, bag is at left, lunch box is at front right."} +{"scene_index": 243, "scene": "The pear is on the right, the cucumber is at the back right, the bag is on the left, and the lunch box is in the front right."} +{"scene_index": 244, "scene": "The pear is located at the back right, while the bag is positioned centrally."} +{"scene_index": 245, "scene": "The banana is on the right side, and the bag is centered."} +{"scene_index": 246, "scene": "The bag is at front-left, the banana is at back-right, and the lunch box is on the right."} +{"scene_index": 247, "scene": "The bag is located at the center position."} +{"scene_index": 248, "scene": "The pear is at the center, the cucumber is in the back right corner, the bag is at the front left, and the lunchbox is in the front right."} +{"scene_index": 249, "scene": "The bag is on the left, and the banana is at the back right."} +{"scene_index": 250, "scene": "The pear is at the center, the bag is in front left, the lunch box is on the right, and the cucumber is at the back right."} +{"scene_index": 251, "scene": "The pear is located at the back right position, while the cucumber is positioned on the right."} +{"scene_index": 252, "scene": "The pear is at front right, the bag is at front left, the first lunch box is on the right, and the second lunch box is at front right."} +{"scene_index": 253, "scene": "Cucumber is on the right side, pear is also on the right side, bag is in front left, and lunch box is in front right."} +{"scene_index": 254, "scene": "Cucumber is positioned at the back right; pear is positioned at the back right; peach is positioned at the back right; the bag is positioned at the center; and the lunch box is positioned at the right."} +{"scene_index": 255, "scene": "The lunch box is on the right, the bag is on the left, the banana is at the back."} +{"scene_index": 256, "scene": "The bag is at the front left, the banana is at the back right, and the lunch box is at the front right."} +{"scene_index": 257, "scene": "The bag is at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 258, "scene": "The bag is on the left, the banana is at the back-right, and the lunchbox is at the front-right."} +{"scene_index": 259, "scene": "The bag is on the left, the banana is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 260, "scene": "The banana is positioned at the back, the bag is located at the front left, and the lunch box is in the center."} +{"scene_index": 261, "scene": "The cucumber is at the back right, the bag is at the front left, the pear is on the right, and the lunch box is at the front right."} +{"scene_index": 262, "scene": "The cucumber is on the right side, the bag is in the front-left, the pear is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 263, "scene": "The bag is positioned at the front."} +{"scene_index": 264, "scene": "The pear is at the front right, the bag is on the left, the cucumber is at the back right, and the lunch box is on the right."} +{"scene_index": 265, "scene": "The banana is at the back right, a bag is on the left, and another bag is in the center."} +{"scene_index": 266, "scene": "The pear is on the right, the cucumber is also on the right, the bag is on the left, and the lunch box is in front of the right."} +{"scene_index": 267, "scene": "Pear is in front right, bag is in front left, lunch box is on right, cucumber is at back right, box is on right."} +{"scene_index": 268, "scene": "The banana is on the right, the bag is in the front left, and the lunchbox is in the front right."} +{"scene_index": 269, "scene": "The bag is at front-left, the banana is at back-right, and the lunch box is on the right."} +{"scene_index": 270, "scene": "The bag is at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 271, "scene": "The bag is in front left, the pear is on the right, the cucumber is at back right, and the lunch box is in front right."} +{"scene_index": 272, "scene": "The cucumber and pear are both located at the back right position, while the bag is positioned at the back location."} +{"scene_index": 273, "scene": "Cucumber is at the back right. Pear is at the front right. Lunch box is on the right side. Bag is placed at the front left."} +{"scene_index": 274, "scene": "The cucumber is on the right side, the bag is on the left, the pear is at the back right, and the lunchbox is in front of it."} +{"scene_index": 275, "scene": "The cucumber is on the right, the bag is on the left, the pear is on the right, and there are two lunch boxes in the front right."} +{"scene_index": 276, "scene": "The bag is in the front-left position, the cucumber is at the back-right, while the pear and lunch box are both on the right side."} +{"scene_index": 277, "scene": "The cucumber and pear are both located at the back right, while the bag is positioned on the left."} +{"scene_index": 278, "scene": "The cucumber and pear are both located at the back right, the lunch box is on the right, and the bag is in the center."} +{"scene_index": 279, "scene": "The bag is on the left, the banana is on the right, and the lunch box is at the front-right."} +{"scene_index": 280, "scene": "The cucumber and pear are both located at the back right, while there is a bag in the front and another bag positioned at the front left."} +{"scene_index": 281, "scene": "Cucumber is at back right, pear is at back right, lunch box is at right, bag1 is at center, and bag2 is at left."} +{"scene_index": 282, "scene": "The cucumber is on the right, the pear is in front right, the lunch box is also on the right, and the bag is on the front left."} +{"scene_index": 283, "scene": "The bag is located at the front, while the banana is positioned at the back right."} +{"scene_index": 284, "scene": "Cucumber is at the back right, pear is on the right, and bag is in the center."} +{"scene_index": 285, "scene": "The bag is at front left, the banana is at back right, and the lunch box is on the right."} +{"scene_index": 286, "scene": "cucumber is at back right pear is at right bag is at front left lunch box is at front right"} +{"scene_index": 287, "scene": "Cucumber is at back right. Bag is at center. Pear is at back right. Lunch box is at right."} +{"scene_index": 288, "scene": "The bag is placed in the center position."} +{"scene_index": 289, "scene": "The cucumber is at the back right, the pear is on the right, the bag is in the center, and the lunch box is at the front right."} +{"scene_index": 290, "scene": "Cucumber is at the back right, pear is on the right, lunch box is on the right, bag is in the center."} +{"scene_index": 291, "scene": "The bag is located at the center, while the lunch box is positioned to its right."} +{"scene_index": 292, "scene": "The banana is positioned at the back right, while two bags are located on the left and center."} +{"scene_index": 293, "scene": "The bag is at the front, with a pear in the back right, and a lunch box on the right."} +{"scene_index": 294, "scene": "The banana is located at the back right position relative to the other objects."} +{"scene_index": 295, "scene": "The bag is at front left, the banana is on the right, and the lunch box is at front right."} +{"scene_index": 296, "scene": "The bag is on the left, the banana is on the right, and the lunchbox is in the front-right."} +{"scene_index": 297, "scene": "The cucumber and pear are located at the back right, while the bag is positioned at the front."} +{"scene_index": 298, "scene": "The banana is located at the back right, while both bags are centrally positioned but do not specify their relationship to each other."} +{"scene_index": 299, "scene": "The bag is located at the front position."} +{"scene_index": 300, "scene": "The pear is in the front right, the bag is in the front left, the cucumber is at the back right, and the lunch box is on the right."} +{"scene_index": 301, "scene": "The banana is located at the back right position, while the bag is centrally positioned."} +{"scene_index": 302, "scene": "Cucumber is at back right, pear is at right, bag is at left, and lunch box is at front right."} +{"scene_index": 303, "scene": "The cucumber is located at the back right, the pear is also at the back right, the bag is on the left, the lunch box is on the right, there is another bag in the center, and another lunch box is also on the right."} +{"scene_index": 304, "scene": "The bag is at the center, while the cucumber is on the right side."} +{"scene_index": 305, "scene": "The banana is at the back right, the lunchbox is at the front right, and the bag is at the front left."} +{"scene_index": 306, "scene": "The bag is on the left side. The banana is on the right side. The lunch box is at the back right position."} +{"scene_index": 307, "scene": "Cucumber is located at back right, Bag is positioned at front left, Pear is placed at front right, Lunch box is on the right side (two instances)."} +{"scene_index": 308, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 309, "scene": "The bag is positioned at the center."} +{"scene_index": 310, "scene": "The cucumber is at the back right, the bag is on the left, the pear is at the front right, and the lunch box is on the right."} +{"scene_index": 311, "scene": "The cucumber is on the right side, the bag is at the center, and the pear is located at the back right."} +{"scene_index": 312, "scene": "The bag is located in the front-left position, while the banana is placed at the back-right. Additionally, there are two lunch boxes situated on the right side."} +{"scene_index": 313, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 314, "scene": "The cucumber is located at the back right position, sharing the same spot as the pear, while the bag is positioned at the back."} +{"scene_index": 315, "scene": "Cucumber is at back right, pear is also at back right, lunch box is at right, bag is at left, and another bag is at center."} +{"scene_index": 316, "scene": "The cucumber is positioned at the back right location relative to the other objects."} +{"scene_index": 317, "scene": "The bag is at the front, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 318, "scene": "The cucumber is on the right, the bag is at the back, the pear is at the back right, and the lunch box is on the right."} +{"scene_index": 319, "scene": "Cucumber is located at the back right pear is located at the back right bag is located on the left bag is located in the center lunch box is located on the right."} +{"scene_index": 320, "scene": "Cucumber is located at the back right Pear is also located at the back right The lunch box is positioned on the right side There are two bags placed in the center"} +{"scene_index": 321, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 322, "scene": "The banana is at the back right, the first bag is on the left, the second bag is in the center, and the lunchbox is at the front right."} +{"scene_index": 323, "scene": "The bag is on the left, and the lunch box is on the right."} +{"scene_index": 324, "scene": "The bag is at the front left, the pear is at the front right, the cucumber is at the back right, and the lunch box is on the right."} +{"scene_index": 325, "scene": "The bag is positioned at the front left, the banana is at the front right, and the lunch box is on the right."} +{"scene_index": 326, "scene": "The bag is at front left, the pear is on the right, and the lunchbox is at front right."} +{"scene_index": 327, "scene": "The banana is located at the back right, the bag is in the center, the lunch box is on the right, and the box is placed at the front right."} +{"scene_index": 328, "scene": "The bag is on the left side."} +{"scene_index": 329, "scene": "The bag is located at the front-left position, while the lunch box is positioned on the right side."} +{"scene_index": 330, "scene": "The bag is on the front left, the banana is on the right, and the lunch box is on the back right."} +{"scene_index": 331, "scene": "The pear is at the center, the bag is at the front left, the cucumber is at the back right, and the lunch box is at the front right."} +{"scene_index": 332, "scene": "The pear is located at the front right position, while the bag is placed on the left side."} +{"scene_index": 333, "scene": "The bag is located at front left, the lunch box at front right, and the banana is at back right."} +{"scene_index": 334, "scene": "Cucumber is positioned at the back right Pear is positioned at the front right Bag is positioned at the front left Lunch box is positioned on the right."} +{"scene_index": 335, "scene": "The cucumber and pear are both located in the back right area, sharing that space. The bag is on the left side, while the lunch box is positioned on the right side."} +{"scene_index": 336, "scene": "The cucumber is at the back right, the bag is on the left, while both the pear and lunch box are on the right."} +{"scene_index": 337, "scene": "The cucumber is at the back right, sharing its position with the pear, while the bag is centered in between them."} +{"scene_index": 338, "scene": "The bag is on the left, the banana is at the back right, and the lunch box is on the right."} +{"scene_index": 339, "scene": "The bag is on the left, and the banana is on the right."} +{"scene_index": 340, "scene": "The bag is at the center, while the pear is positioned at the back right."} +{"scene_index": 341, "scene": "The cucumber is located at the back right position, while the bag is placed in the front position."} +{"scene_index": 342, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in the front-right."} +{"scene_index": 343, "scene": "The cucumber and pear are both located at the back right, while the bag is positioned in the center."} +{"scene_index": 344, "scene": "The pear is at the center, the bag is in the front-left, the cucumber is at the back-right, and the lunch box is in the front-right."} +{"scene_index": 345, "scene": "The bag is at front left, the cucumber is at back right, the pear is at center, and the lunch box is at right."} +{"scene_index": 346, "scene": "The banana is on the right, the bag is in front-left, and the lunchbox is in front-right."} +{"scene_index": 347, "scene": "The bag is on the left, and the lunch box is in front-right."} +{"scene_index": 348, "scene": "The pear, cucumber, and lunch box are all positioned on the right side, while there are two bags placed on the left side."} +{"scene_index": 349, "scene": "The bag is at front left, the banana is on the right, and the lunchbox is at front right."} +{"scene_index": 350, "scene": "Banana is on the right, bag is on the left, bag is in the center."} +{"scene_index": 351, "scene": "The cucumber is at the back right, the bag is on the left, the pear is on the right, and the lunch box is at the front right."} +{"scene_index": 352, "scene": "The bag is positioned at the front left, the lunch box at the front right, and the banana is located at the back right."} +{"scene_index": 353, "scene": "The bag is positioned at the center, while both the lunch box and cucumber are on the right side."} +{"scene_index": 354, "scene": "The bag is positioned at the center."} +{"scene_index": 355, "scene": "The bag is at the center, another bag is on the left, and a banana is in the back right."} +{"scene_index": 356, "scene": "The bag is positioned at front left, the lunch box is at right, and the banana is at back right."} +{"scene_index": 357, "scene": "The bag is on the left, the banana is at the back-right, and the lunchbox is at the front-right."} +{"scene_index": 358, "scene": "The banana is located at the back right, while the bag is positioned centrally."} +{"scene_index": 359, "scene": "The cucumber is located at the back right, alongside the pear which shares the same back right position, while the bag is positioned further back."} +{"scene_index": 360, "scene": "pear is on the right side. cucumber is at the back right position. bag is located in the front left area. lunch box is placed in the front right."} +{"scene_index": 361, "scene": "The bag is positioned at the front left."} +{"scene_index": 362, "scene": "The pear is located at the back right, alongside the cucumber also positioned back right; both the cucumber and lunch box are on the right side with the cucumber not specifying a different position, the bag is centrally placed."} +{"scene_index": 363, "scene": "The pear is on the right, the bag is in front left, the cucumber is at back right, and the lunch box is in front right."} +{"scene_index": 364, "scene": "The bag is on the left, the banana is at the back right, and the lunchbox is in the front right."} +{"scene_index": 365, "scene": "Cucumber is at back right, pear is at front right, lunch box is at right, and bag is at front left."} +{"scene_index": 366, "scene": "The two bags are both located at the front left, while Anna is situated at the back right."} +{"scene_index": 367, "scene": "The cucumber is positioned at the back right corner, sharing the same location as the pear, while the bag is placed slightly behind but not in the exact back right area."} +{"scene_index": 368, "scene": "The banana is located at the back right, the first bag is in the center, the second bag is on the left, and the lunchbox is positioned on the right."} +{"scene_index": 369, "scene": "The banana is located at the back right, while there are two bags, one positioned in the center and another on the left."} +{"scene_index": 370, "scene": "The bag is located at the front left, while the banana is positioned on the right."} +{"scene_index": 371, "scene": "The cucumber is at the back right, the pear is in the center, the bag is at the front left, and the lunch box is on the right."} +{"scene_index": 372, "scene": "The cucumber is at the back right, the bag is in the center, and the pear is on the right."} +{"scene_index": 373, "scene": "The pear is at the center, the lunch box is in front of it on the right side, the cucumber is to the right, and the bag is in front of it on the left."} +{"scene_index": 374, "scene": "The bag is centered, while the banana is positioned to its right side."} +{"scene_index": 375, "scene": "The bag is on the left, while both the banana and the lunch boxes are on the right."} +{"scene_index": 376, "scene": "The cucumber is at the back right, the pear is also at the back right, one bag is on the left, and another bag is in the center."} +{"scene_index": 377, "scene": "The banana is located at the back right, the bag is in the center, and the lunch box is positioned on the right."} +{"scene_index": 378, "scene": "The bag is in the center, the lunch box is on the right, and there are two cucumbers located at the back right."} +{"scene_index": 379, "scene": "Cucumber is at the back right, bag is at front left, pear is at right, and lunch box is at front right."} +{"scene_index": 380, "scene": "Banana is located at the back right. Lunch box is placed at the front right. Bag is situated at the front. Another bag is positioned at the front left. Peach pear is on the right side."} +{"scene_index": 381, "scene": "The pear is in front, the cucumber is at the back right, the bag is in front left, and the lunch box is on the right."} +{"scene_index": 382, "scene": "The bag is placed at the center position."} +{"scene_index": 383, "scene": "The cucumber is on the right, the pear is at the back right, the bag is in the center, and the lunch box is also on the right."} +{"scene_index": 384, "scene": "The cucumber and pear are both located at the back right, while the bag is in the center."} +{"scene_index": 385, "scene": "The bag is positioned on the left."} +{"scene_index": 386, "scene": "The bag is positioned at the center."} +{"scene_index": 387, "scene": "The cucumber is positioned at the back right, and the bag is centered."} +{"scene_index": 388, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in the front right."} +{"scene_index": 389, "scene": "cucumber is at back right bag is at center lunch box is at right pear is at back right"} +{"scene_index": 390, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 391, "scene": "The bag is at the center, while the cucumber and pear are both located at the back right."} +{"scene_index": 392, "scene": "The cucumber and pear are both located at the back right, while the bag is centered."} +{"scene_index": 393, "scene": "The bag is located at the front left, the lunch box is at the front right, and the banana is on the right side."} +{"scene_index": 394, "scene": "The bag is on the left, the banana is on the right, and the lunch box is at the front-right."} +{"scene_index": 395, "scene": "The bag is at front left, the pear is at front right, and the lunch box is on the right."} +{"scene_index": 396, "scene": "Pear is in front right, cucumber is at back right, bag is on front left, and there are two lunch boxes both positioned to the right."} +{"scene_index": 397, "scene": "Banana is located at the back right, bag is positioned at the front left, and lunch box is on the right."} +{"scene_index": 398, "scene": "The bag is positioned at the center."} +{"scene_index": 399, "scene": "The pear is at the back right, sharing its position with the peach, while the bag is on the left and the cucumber is on the right."} +{"scene_index": 400, "scene": "pear is at back right, cucumber is at back right, lunch box is at right, bag is at center, bag is at left, bag is at center."} +{"scene_index": 401, "scene": "The bag is on the left, the banana is at the back right, the lunch box is on the right, and the pear is in the front right."} +{"scene_index": 402, "scene": "The bag is located at the front left position, while the banana is positioned at the back right location."} +{"scene_index": 403, "scene": "The banana is at the back right, the lunchbox is at the front right, the bag is in the center, and the pear is on the right."} +{"scene_index": 404, "scene": "The bag is on the left, and the lunch box is on the right."} +{"scene_index": 405, "scene": "The pear is in the front-right position, the bag is on the left, the lunch box is on the right, and the cucumber is at the back-right."} +{"scene_index": 406, "scene": "The cucumber is positioned at the back right, sharing the same location as the pear. The bag is in the center, while the lunch box is on the right side."} +{"scene_index": 407, "scene": "The cucumber is at the back right, the pear is in front of it on the right side, the bag is on the front left, and the lunch box is on the right."} +{"scene_index": 408, "scene": "The cucumber is at the back right, sharing its position with the pear. The bags are centered and on the left."} +{"scene_index": 409, "scene": "The bag is located at the front left position, while the banana is placed at the back right, and the lunchbox is situated on the right side."} +{"scene_index": 410, "scene": "The bag is on the left, the banana is in the back right, and the lunch box is on the right."} +{"scene_index": 411, "scene": "The bag is on the left side, while the banana is located at the back right corner."} +{"scene_index": 412, "scene": "The lunch box is at the front right, the cucumber is on the right, and the bag is in the center."} +{"scene_index": 413, "scene": "The pear is located at the back right, the cucumber is on the right, one bag is on the left, and another bag is in the center."} +{"scene_index": 414, "scene": "The pear is front right, cucumber is back right, bag is front left, and lunch box is right."} +{"scene_index": 415, "scene": "cucumber is at back right pear is at front right bag is at front left lunch box is at front right"} +{"scene_index": 416, "scene": "The bag is placed in the center position."} +{"scene_index": 417, "scene": "The banana is on the right side, and the bag is located at the center."} +{"scene_index": 418, "scene": "The cucumber is at the back right, the pear is also at the back right, the bag is in the center, and the lunch box is on the right."} +{"scene_index": 419, "scene": "The pear is on the right, the cucumber is at the back right, the bag is in the front left, and the lunch box is in the front right."} +{"scene_index": 420, "scene": "The bag is at the center, and there s a cucumber positioned at the back right."} +{"scene_index": 421, "scene": "Cucumber is located at the back right, pear is located at the front right, bag is located at the front left, and lunch box is located at the right."} +{"scene_index": 422, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in the front right."} +{"scene_index": 423, "scene": "The bag is on the left side, the banana is at the back-right position, and the lunch box is on the right side."} +{"scene_index": 424, "scene": "The pear is in the front right, the bag is in the front left, the cucumber is at the back right, and the lunch box is on the right."} +{"scene_index": 425, "scene": "The bag is in front, while the lunch box, cucumber, and pear are all located at the back right."} +{"scene_index": 426, "scene": "The bag is located at the front left, while the lunch box is positioned on the right side."} +{"scene_index": 427, "scene": "The bag is located at the front left position, while the banana is placed at the back right, and the lunchbox is situated on the right side."} +{"scene_index": 428, "scene": "The bag is at the front, the banana is in the back right, and the lunch box is on the right."} +{"scene_index": 429, "scene": "Banana is at back right, sharing the same position as pear; bag is in the center."} +{"scene_index": 430, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in front-right."} +{"scene_index": 431, "scene": "The bag is on the left, the banana is at the back right, and the lunchbox is on the right."} +{"scene_index": 432, "scene": "The cucumber is at the back right, the pear is on the right, the bag is in the center, and the lunch box is also on the right."} +{"scene_index": 433, "scene": "The bag is positioned at the center, while the banana is located to its right."} +{"scene_index": 434, "scene": "The cucumber and pear are both located in the back right area, while there is a bag in the center and another bag on the left."} +{"scene_index": 435, "scene": "The cucumber is at back right, the pear is also at back right, and the bag is in the center."} +{"scene_index": 436, "scene": "The bag is on the left, the lunch box is in the front-right, and the banana is at the back-right."} +{"scene_index": 437, "scene": "The bag is positioned at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 438, "scene": "The bag is on the left, the banana is in the front-right, and the lunch box is on the right."} +{"scene_index": 439, "scene": "The cucumber is on the right, the bag is at front left, the pear is on the right, and the lunch box is at front right."} +{"scene_index": 440, "scene": "Banana is on the right, bag is at front-left, lunch box is on the right."} +{"scene_index": 441, "scene": "Banana is at back right, bag is at center, peach is at back right."} +{"scene_index": 442, "scene": "The bag is positioned at the back, while the banana is located at the back right."} +{"scene_index": 443, "scene": "The bag is on the left, the lunch box is on the right, and the banana is at the back right."} +{"scene_index": 444, "scene": "The bag is on the left."} +{"scene_index": 445, "scene": "The bag is located at the front-left position, while the banana is positioned to the right."} +{"scene_index": 446, "scene": "The bag is centered, while the banana is positioned at the back right."} +{"scene_index": 447, "scene": "The pear is at the front right, the bag is at the front left, the cucumber and the lunch box are both on the right."} +{"scene_index": 448, "scene": "The pear is at front right, cucumber at back right, bag at front left, and lunch box on the right side."} +{"scene_index": 449, "scene": "Bag is at front left; pear is at right; cucumber is at back right; lunch box is at right."} +{"scene_index": 450, "scene": "The bag is on the left, the pear is on the right, the cucumber is at the back right, and the lunch box is at the front right."} +{"scene_index": 451, "scene": "The bag is located at the center, while the banana is positioned at the back right."} +{"scene_index": 452, "scene": "The bag is located at the front left. The banana is positioned at the back right. The lunch box is placed at the front right."} +{"scene_index": 453, "scene": "The pear is at the back right, the cucumber is on the right, and two bags are in the center."} +{"scene_index": 454, "scene": "The pear is in the front right position, sharing that location with the lunch box; the bag is on the left, and the cucumber is at the back right."} +{"scene_index": 455, "scene": "The cucumber is at the back right, the pear is also at the back right, the bag is in front, and the lunch box is on the right side."} +{"scene_index": 456, "scene": "The bag is on the right, another bag is in the center, and both the pear and cucumber are located at the back right."} +{"scene_index": 457, "scene": "The cucumber and pear are both located at the back right, while the lunchbox is on the right. There are two bagsβ€”one positioned to the left and another in the center."} +{"scene_index": 458, "scene": "The bag is at the front, the banana is on the right, and the lunch box is in the front right."} +{"scene_index": 459, "scene": "The banana is on the right, the bag is on the left, and the lunch box is also on the right."} +{"scene_index": 460, "scene": "The cucumber is in the back-right corner, the pear is also in the back-right corner, a bag is at the center, another bag is on the left side, and the lunch box is on the right."} +{"scene_index": 461, "scene": "The bag is at the center, and the banana is on its right side."} +{"scene_index": 462, "scene": "Cucumber and pear are both located at the back right, while two bags are positioned in the center."} +{"scene_index": 463, "scene": "The bag is positioned at front left, the banana is at front right, and the lunch box is on the right."} +{"scene_index": 464, "scene": "The bag is located at the front-left position, while the lunch box is placed on the right side."} +{"scene_index": 465, "scene": "The pear is in the front right, the bag is in the front left, the lunch box is on the right, and the cucumber is at the back right."} +{"scene_index": 466, "scene": "The bag is located at the front-left position."} +{"scene_index": 467, "scene": "The bag is located at the back position, indicating its placement relative to the subject or reference point."} +{"scene_index": 468, "scene": "The pear is at the back right, cucumber is also at the back right, the lunch box is on the right, and two bags are both in the center."} +{"scene_index": 469, "scene": "The bag is on the left, the banana is on the right, and the lunch box is in front of it."} +{"scene_index": 470, "scene": "The cucumber is at the back right, the bag is on the left, the pear is on the right, and there are two lunch boxes on the front right and right."} +{"scene_index": 471, "scene": "The cucumber is at the back right, the pear is at the right, and the bag is at the center."} +{"scene_index": 472, "scene": "The pear is in the center, the bag is at the front-left, the lunch box is on the right, and the cucumber is at the back-right."} +{"scene_index": 473, "scene": "The bag is positioned at the center."} +{"scene_index": 474, "scene": "The bag is positioned at the front left, and the lunch box is located on the right."} +{"scene_index": 475, "scene": "The bag is located at the front left, while the lunch box is situated at the front right."} +{"scene_index": 476, "scene": "The bag is located at the front left position, while the banana is placed at the back right, and the lunchbox is situated on the right side."} +{"scene_index": 477, "scene": "The cucumber is located at the back right position, while the bag is situated at the front position."} +{"scene_index": 478, "scene": "The bag is positioned at the center, while the banana is located at the back right."} +{"scene_index": 479, "scene": "The pear is on the right, the cucumber is at the back right, the bag is in the front left, and the lunch box is in the front right."} +{"scene_index": 480, "scene": "The cucumber and pear are both located at the back right, while the bag is in the center and the lunch box is on the right."} +{"scene_index": 481, "scene": "The bag is at the front left, the banana is at the back right, and the lunch box is at the front right."} +{"scene_index": 482, "scene": "The bag is positioned at the front left, while the banana is located at the back right."} +{"scene_index": 483, "scene": "The cucumber is on the right side, the pear is at the back right, and the bag is in the center."} +{"scene_index": 484, "scene": "The banana is located at the back right position, while the bag is centered."} +{"scene_index": 485, "scene": "Banana is on the right, bags are at front and front-left positions."} +{"scene_index": 486, "scene": "Cucumber is located at the back right, pear is positioned on the right side, bag is placed on the left, and lunch box is situated at the front right."} +{"scene_index": 487, "scene": "The bag is on the left, while the banana and lunch box are both on the right."} +{"scene_index": 488, "scene": "The bag is located at the front left position, while the lunch box is positioned at the front right."} +{"scene_index": 489, "scene": "The cucumber is on the right side. The pear is at the back right location. The bag is in the center position."} +{"scene_index": 490, "scene": "The bag is positioned at the front left, while both the banana and the lunch box are located on the right."} +{"scene_index": 491, "scene": "The bag is at the front-left, the banana is on the right, and the lunch box is at the front-right."} +{"scene_index": 492, "scene": "The bag is located at the front left position, while the lunch box is situated to the right."} +{"scene_index": 493, "scene": "Banana is located at the back right, Bag is on the left side, Lunchbox is positioned to the right, Pear is placed at the front right."} +{"scene_index": 494, "scene": "The bag is at the front, the lunch box is in front-right, and the cucumber is at back-right."} +{"scene_index": 495, "scene": "The cucumber is on the right, the pear is at the back right, and two bags are in the center."} +{"scene_index": 496, "scene": "The bag is on the left, while the banana and lunch box are both on the right."} +{"scene_index": 497, "scene": "The bag is positioned at front left, the pear is at front right, the lunch box is on the right side, and the cucumber is located at back right."} +{"scene_index": 498, "scene": "The cucumber is at the back right, sharing its position with the pear; the bag is in the center; and the lunch box is on the right."} +{"scene_index": 499, "scene": "The bags are located on the left and center positions."} +{"scene_index": 500, "scene": "The bag is on the left, and the banana is at the back right."} diff --git a/RMC-AIDA-L_food_packaging/annotations/subtask_annotations.jsonl b/RMC-AIDA-L_food_packaging/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d525bd6eefb65f39067b013050d96a74538f8a5e --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/subtask_annotations.jsonl @@ -0,0 +1,16 @@ +{"subtask_index": 0, "subtask": "Grab the pear with your right hand."} +{"subtask_index": 1, "subtask": "Pick up the lunch box with your right hand."} +{"subtask_index": 2, "subtask": "end"} +{"subtask_index": 3, "subtask": "Put the cucumber into the lunch bag with your right hand."} +{"subtask_index": 4, "subtask": "Hold the lunch bag with your left hand."} +{"subtask_index": 5, "subtask": "Secure the lunch bag with your left hand."} +{"subtask_index": 6, "subtask": "Pick up the cucumber with your right hand."} +{"subtask_index": 7, "subtask": "Hold the lunch bag with your right hand."} +{"subtask_index": 8, "subtask": "Take the banana with your right hand."} +{"subtask_index": 9, "subtask": "Place the lunch box into the lunch bag with your right hand."} +{"subtask_index": 10, "subtask": "Place the peach into the lunch bag with your right hand."} +{"subtask_index": 11, "subtask": "Zip up the lunch bag with your right hand."} +{"subtask_index": 12, "subtask": "Put the banana into the lunch bag with your right hand."} +{"subtask_index": 13, "subtask": "Place the pear into the lunch bag with your right hand."} +{"subtask_index": 14, "subtask": "Grab the peach with your right hand."} +{"subtask_index": 15, "subtask": "null"} diff --git a/RMC-AIDA-L_food_packaging/annotations/subtasks.jsonl b/RMC-AIDA-L_food_packaging/annotations/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a27fffd7ef2d179a400f99925e544f95b4665e8 --- /dev/null +++ b/RMC-AIDA-L_food_packaging/annotations/subtasks.jsonl @@ -0,0 +1,16 @@ +{"subtask_index": 0, "subtask": "end"} +{"subtask_index": 1, "subtask": "Hold the lunch bag with your right hand."} +{"subtask_index": 2, "subtask": "Grab the banana with your right hand."} +{"subtask_index": 3, "subtask": "Zip the bag with your right hand."} +{"subtask_index": 4, "subtask": "Put the cucumber into the lunch bag with your right hand."} +{"subtask_index": 5, "subtask": "Secure the lunch bag with your left hand."} +{"subtask_index": 6, "subtask": "Grab the pear with your right hand."} +{"subtask_index": 7, "subtask": "Place the peach into the 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