Copy R1_Lite_hang_clothes into RoboCOIN_useable

R1_Lite_hang_clothes/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

R1_Lite_hang_clothes/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_hang_clothes
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 109 |
+| **Total Frames** | 289827 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 327 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 22.8GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+hang basket clothes on hanger then take off put back.
+
+### Sub-Tasks
+This dataset includes 15 distinct subtasks:
+
+1. **Pick up the clothes rack on the clothesline with the right gripper** 
+2. **Hang the clothes rack on the clothesline with the right gripper** 
+3. **Take the clothes off the clothes rack with the right gripper** 
+4. **End** 
+5. **Hang the clothes on the clothes rack** 
+6. **Put clothes in the basket  with the left gripper** 
+7. **Pick up the clothes rack on the clothesline** 
+8. **Hang the clothes rack on the clothesline** 
+9. **Pick up clothes from the basket** 
+10. **Take the clothes off the clothes rack** 
+11. **Hang the clothes on the clothes rack with both grippers** 
+12. **Pick up clothes from the basket with the left gripper** 
+13. **abnormal** 
+14. **Put clothes in the basket** 
+15. **null** 
+
+
+## 🎥 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
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:108
+
+
+## 📁 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": "galaxea_r1_lite", "total_episodes": 109, "total_frames": 289827, "total_tasks": 1, "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:108"}, "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": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "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_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_hang_clothes_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_hang_clothes/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

R1_Lite_hang_clothes/annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

R1_Lite_hang_clothes/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

R1_Lite_hang_clothes/annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

R1_Lite_hang_clothes/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

R1_Lite_hang_clothes/annotations/scene_annotations.jsonl

@@ -0,0 +1,110 @@
+{"scene_index": 0, "scene": "The clothes are on the back left and back right, there s a hanger on the left, and a basket at the back."}
+{"scene_index": 1, "scene": "The clothes are positioned across three locations: two on the back (one at the back right and one simply at the back), and one on the back left."}
+{"scene_index": 2, "scene": "Clothes positioned at the back clothes positioned at the back left clothes positioned at the back right clothes positioned at the front (two instances) and a hanger is positioned at the center"}
+{"scene_index": 3, "scene": "The  clothes  are located at the back right, back left, and back positions, while the  hanger  is at the front right."}
+{"scene_index": 4, "scene": "The clothes are positioned at the back left and back right, while the hangers are both located on the left side."}
+{"scene_index": 5, "scene": "The clothes are positioned at back left, front, and back right, while the hangers are placed on both the right and left sides."}
+{"scene_index": 6, "scene": "Clothes are located at the back left and back right. Hangers are situated at the front left and right."}
+{"scene_index": 7, "scene": "The two clothes are both positioned at the back."}
+{"scene_index": 8, "scene": "The clothes are positioned at front, back left, and back right; a basket is placed at back; and a hanger hangs on the left."}
+{"scene_index": 9, "scene": "Clothes (back right), Clothes (back left): Positioned diagonally at the back corners of the space; Basket (back): Placed centrally along the back wall; Hanger (left), Hanger (left), Hanger (right): Positioned on the left and right sides, with two on the left and one on the right."}
+{"scene_index": 10, "scene": "Clothes are located at both back left and back right positions, the basket is placed at the back position, and the hanger is positioned on the right side."}
+{"scene_index": 11, "scene": "The clothes are placed in positions: two at the back (one on the left and one on the right), and one unspecified. The hangers are located on the left (two of them) and one on the front right."}
+{"scene_index": 12, "scene": "The clothes are located at the back left, back right, and back positions, while the hangers are positioned on the right and left sides."}
+{"scene_index": 13, "scene": "The basket is placed behind the clothes, which are on the left side."}
+{"scene_index": 14, "scene": "Clothes are at the back left and back right, baskets are at the back, and hangers are at the front left and front right."}
+{"scene_index": 15, "scene": "Basket is positioned at the back clothes are placed on the left back and right sides hangers are situated at the front right."}
+{"scene_index": 16, "scene": "Clothes are located at both back left and front positions, while hangers are positioned on the left, right, and another left."}
+{"scene_index": 17, "scene": "The clothes are positioned at back left and back right, while the hangers are located at right and front left."}
+{"scene_index": 18, "scene": "The basket is positioned at the back, while the clothes are located at the back right and back left. Additionally, there is a hanger on the right side."}
+{"scene_index": 19, "scene": "The clothes are positioned at back left, front, and back right, while the hangers are located on the right and left sides, and the basket is placed at the back."}
+{"scene_index": 20, "scene": "There are several items located as follows: clothes on back right, basket on back, hanger on left, clothes on back left, hanger on right, and hanger on left."}
+{"scene_index": 21, "scene": "The clothes are located at the back left and back right positions. The basket is positioned at the back. There are three hangers, two placed in the front right and one on the right side."}
+{"scene_index": 22, "scene": "The clothes are at the back left and back right positions, a basket is at the back, and there are two hangers both on the right side."}
+{"scene_index": 23, "scene": "The clothes are located on both the back right and back left positions with a hanger placed to the left and another object possibly er positioned to the right."}
+{"scene_index": 24, "scene": "The clothes are positioned in multiple locations: two at the back (one right and one left), three at the front (including both sides), with additional hangers on the front right and left."}
+{"scene_index": 25, "scene": "Clothes are located at the back left and back right positions The basket is placed at the back position Hangers are positioned on the right front left and another hanger is also on the right"}
+{"scene_index": 26, "scene": "The clothes are at the back left and back right positions, while the hanger is on the left."}
+{"scene_index": 27, "scene": "The clothes are positioned at the back."}
+{"scene_index": 28, "scene": "Basket is at the back. Clothes are in the following positions: back left, front, and back right. Hangers are on the right."}
+{"scene_index": 29, "scene": "The two clothes are on the back left and back right positions, and there are two hangers both located on the right."}
+{"scene_index": 30, "scene": "The clothes are placed in three positions: back left, back right, and back. Additionally, there are two hangers located at the front right and right positions."}
+{"scene_index": 31, "scene": "The clothes are positioned at the front, back right, and back left of the hanger, which is located on the right and center positions."}
+{"scene_index": 32, "scene": "The clothes are located at the back right and back left positions, while the hangers are positioned in the front, left, front right, right, and left locations."}
+{"scene_index": 33, "scene": "Clothes are located on the back left side a basket is located at the back clothes are also located on the back right side a hanger is located on the front right another item possibly \"##er\" is located on the right a hanger is also located on the front left and another hanger is located on the right."}
+{"scene_index": 34, "scene": "The two clothes are positioned at the back."}
+{"scene_index": 35, "scene": "The basket is located at the back, while the clothes are positioned in front, on the back left, and also on the back left. Additionally, two hangers are placed on the left side."}
+{"scene_index": 36, "scene": "The clothes are located at the back left and back right positions. There is also a set of clothes positioned simply at the back. Additionally, there are two hangers—one on the left and another on the front right—and a basket placed at the back."}
+{"scene_index": 37, "scene": "The clothes are at the back left and back right positions, the hanger is in the front left, and there are two baskets both located at the back."}
+{"scene_index": 38, "scene": "The clothes are located at the back left and back right positions, with additional clothes in the back area; there is a hanger positioned at the front right and another hanger on the right side; a basket is also placed at the back."}
+{"scene_index": 39, "scene": "Clothes (back left), Clothes (back right), Hanger (right), and Clothes (back)."}
+{"scene_index": 40, "scene": "The clothes are positioned at the back, while the basket is located at the back right."}
+{"scene_index": 41, "scene": "Basket is positioned at the back. Clothes are in front. Hanger is centered. Another hanger is on the right side. Additional clothes are placed at the back left."}
+{"scene_index": 42, "scene": "The clothes are located at the back left and back right positions, while the hangers are positioned on the left, right, and another left."}
+{"scene_index": 43, "scene": "Clothes back right Hanger center Basket back Clothes back left Hanger left Hanger left Hanger right"}
+{"scene_index": 44, "scene": "The clothes are at the back left and back right positions, the basket is at the back position, and the hanger is on the right side."}
+{"scene_index": 45, "scene": "Clothes (back left), basket (back), clothes (back right) are at the back. Hangers (front left), hangers (front right), and a hanger (left) are positioned on the sides."}
+{"scene_index": 46, "scene": "Clothes back right, clothes back left, hanger left, basket back, and hanger right."}
+{"scene_index": 47, "scene": "The clothes are positioned at the back left and back right, while both hangers are located at the front left."}
+{"scene_index": 48, "scene": "The clothes are positioned at back left, back right, and back; the basket is located at the back; there are two hangers on the right side."}
+{"scene_index": 49, "scene": "Clothes are located at the back left Clothes are also located at the back right A basket is positioned at the back Two hangers are placed on the left"}
+{"scene_index": 50, "scene": "In the back left corner of the room, there is a pile of clothes. On the back right side, another pile of clothes is placed. A basket is positioned at the back. Additionally, on both the left and right sides of the room, there are hangers each holding clothing items."}
+{"scene_index": 51, "scene": "The hanger is on the right side, with another hanger also on the right and one on the left. In the back, there are clothes on the left and right sides, as well as two baskets positioned at the back."}
+{"scene_index": 52, "scene": "The clothes are positioned at both the back right and back left, while the hangers are located at the front left, front right, and left sides. The baskets are placed at the back."}
+{"scene_index": 53, "scene": "The clothes are located at back right. The clothes are located at back left. The hanger is on the left side. The basket is placed at the back. The hanger is on the right side."}
+{"scene_index": 54, "scene": "The basket is at the back, the clothes are at the back right, the hanger is at the front right, and there are clothes at the front."}
+{"scene_index": 55, "scene": "Clothes are located at the back right Clothes are located at the back left The basket is at the back Clothes are again mentioned at the back left (redundant) A hanger is positioned on the right side Another hanger is placed at the front right The basket's position is reiterated as being at the back (redundant) The hanger is again noted to be on the right (redundant)."}
+{"scene_index": 56, "scene": "In the scene, there are clothes positioned at the back left and back right, a basket located at the back, and three hangers placed at the front left and front right."}
+{"scene_index": 57, "scene": "The clothes are positioned in both the front and the back (left and right), while the hangers are located on the left and right positions."}
+{"scene_index": 58, "scene": "The clothes are located at the back right and back left positions, the basket is at the back, and the hanger is on the left."}
+{"scene_index": 59, "scene": "The clothes are placed at the back right, back left, and back positions, while the basket is also located at the back."}
+{"scene_index": 60, "scene": "The hanger is on the left, with clothes positioned at back right and back left."}
+{"scene_index": 61, "scene": "Clothes are positioned at the back left and back right. Hangers are located at front right, right, and also in the back (two instances). A basket is placed at the back."}
+{"scene_index": 62, "scene": "A back-right clothes hanger is near a back basket with other clothes, including front and back-left garments."}
+{"scene_index": 63, "scene": "The basket is at the back, with clothes positioned to its left and right."}
+{"scene_index": 64, "scene": "The basket is at the back, while two sets of clothes are positioned on both the back left and back right. Additionally, there are two hangers located on the right side."}
+{"scene_index": 65, "scene": "The hanger is on the front right, there s another hanger on the front left. The clothes are at the front and back, with some in the front and others at the back right, while the basket is located at the back."}
+{"scene_index": 66, "scene": "The clothes are positioned in the back right, back left, and front areas, while the hangers are located in the front right and front."}
+{"scene_index": 67, "scene": "Clothes are placed in the back left and back right positions, a basket is at the back, and two hangers are on the right side."}
+{"scene_index": 68, "scene": "Clothes are located at both back right and back left positions; a basket is positioned at the back; hangers are placed on both the left and right sides, with two hangers on each side."}
+{"scene_index": 69, "scene": "The clothes are located at the back left and back right positions, while the basket is placed at the back position."}
+{"scene_index": 70, "scene": "The clothes are on the back left and back right of the room. A basket is also placed at the back, while a hanger is positioned at the front left and another hanger is located at the front right."}
+{"scene_index": 71, "scene": "The clothes are placed on the back right and back left of the space, while the hangers are positioned on the left and front right."}
+{"scene_index": 72, "scene": "Clothes (back left), Clothes (back right), Clothes (back), Hanger (right)."}
+{"scene_index": 73, "scene": "Clothes are located at the back left and back right positions. Hangers are placed at the front right and right positions."}
+{"scene_index": 74, "scene": "Clothes are located at the back left and back right positions. The basket is positioned at the back. There are two hangers placed at the right and front right positions."}
+{"scene_index": 75, "scene": "The clothes are located at the back right and back left positions. The basket is positioned at the back. Additionally, there is a hanger on the right side."}
+{"scene_index": 76, "scene": "1. Clothes are positioned at front. 2. Clothes are positioned at back right. 3. Hanger is positioned at left."}
+{"scene_index": 77, "scene": "The two clothes are both located at the back position."}
+{"scene_index": 78, "scene": "The clothes are at the back left and back right positions, while the basket is at the back. The hangers are all located on the right side."}
+{"scene_index": 79, "scene": "The hanger is on the left, while two sets of clothes are positioned at the back left and back right."}
+{"scene_index": 80, "scene": "The clothes are located in four positions: back right, front, back left, and back."}
+{"scene_index": 81, "scene": "The objects are positioned as follows: there are clothes in the back left and back right corners of the back area, with additional clothes in both the front positions. A hanger is located on the right side, while another hanger is placed in the front left corner. Additionally, a hanger is positioned on the left side."}
+{"scene_index": 82, "scene": "Clothes are positioned at back left, front, and front, with a hanger placed on the left."}
+{"scene_index": 83, "scene": "The hanger is on the left, while the clothes are positioned in four locations: back right, back left, front, and one more unspecified spot."}
+{"scene_index": 84, "scene": "Clothes are placed in three positions: back left, back right, and front. Hangers are positioned on the left (two instances) and right."}
+{"scene_index": 85, "scene": "Clothes front Hanger front left Basket back Clothes back left Hanger front right Clothes back right"}
+{"scene_index": 86, "scene": "In the scenario, the clothes are located at the back left and back right positions, while the basket is situated at the back. The hangers are placed in multiple locations: one on the front, another on the front right, and a third on the right side.  Clothes (back left), Clothes (back right), Basket (back), Hanger (front), Hanger (front right), Hanger (right)."}
+{"scene_index": 87, "scene": "Clothes are positioned at the back left and back right, while a hanger is in the center. A basket is located at the back, and another hanger is on the right."}
+{"scene_index": 88, "scene": "Clothes back left Hanger right Clothes back right Basket back"}
+{"scene_index": 89, "scene": "Basket is at the back. Clothes are on the back left. Clothes are on the back right. Hanger is on the front right."}
+{"scene_index": 90, "scene": "Clothes are located at the back left. Basket is positioned at the back. Clothes are also placed at the back right. Hanger is situated at the back left."}
+{"scene_index": 91, "scene": "The clothes are positioned at the back left and back right, with a hanger at the front right and a basket at the back."}
+{"scene_index": 92, "scene": "The clothes are positioned at the back left, the basket is located at the back, and the hanger is placed on the right."}
+{"scene_index": 93, "scene": "Clothes are positioned at back right and back left. Hanger is positioned at front left."}
+{"scene_index": 94, "scene": "In the back left area, there is clothing; in the back right corner, there s also clothing. A basket and another basket are both placed at the back. Additionally, a hanger is situated on the right side."}
+{"scene_index": 95, "scene": "The clothes are positioned at the back right and back left, while the hangers are located on the left and right. The baskets are placed at the back."}
+{"scene_index": 96, "scene": "The clothes are positioned at the back left, while the hanger is located to the right."}
+{"scene_index": 97, "scene": "Clothes are located at the back right and back left positions. Baskets are positioned at the back. Hangers are placed in the front left, front right, and left positions."}
+{"scene_index": 98, "scene": "A hanger is located at the front left and front right positions, while clothing items are placed in the back left, back right, back, front, and front positions."}
+{"scene_index": 99, "scene": "The clothes are located in the back left and back right positions, while the hangers are positioned in the front left, front right, and another front left."}
+{"scene_index": 100, "scene": "The clothes are at the back right and back left, some hanging on a hanger in the front left, while the basket is located at the back."}
+{"scene_index": 101, "scene": "The basket is at the back, with clothes positioned at the back (left and right), while a hanger is located on the right."}
+{"scene_index": 102, "scene": "The clothes are positioned in multiple locations: two at the back (one on the right and one on the left), and three at the front."}
+{"scene_index": 103, "scene": "The clothes are located at the back right and back left positions, while the hanger is situated on the right side."}
+{"scene_index": 104, "scene": "The basket is at the back. The clothes are at the back right and back left. There are three hangers, one on the left, one on the right, and another on the left."}
+{"scene_index": 105, "scene": "The clothes are on the back left and back right, the basket is at the back, the hanger is on the right and front left."}
+{"scene_index": 106, "scene": "Clothes are located at the back left. The first hanger is on the left side. The basket is positioned at the back. The second hanger is also on the left."}
+{"scene_index": 107, "scene": "The clothes are placed at the back left, back right, and back positions, while the hangers are located on the left, right, and another left side."}
+{"scene_index": 108, "scene": "The clothes are on the back left and back right positions, with a basket on the back. The hangers are located on the front left and front right positions."}
+{"scene_index": 109, "scene": "The clothes are positioned at the back right and back left of the area. The basket is located at the back, with two baskets placed there. The hangers are both situated on the right side."}

R1_Lite_hang_clothes/annotations/subtask_annotations.jsonl

@@ -0,0 +1,15 @@
+{"subtask_index": 0, "subtask": "Pick up the clothes rack on the clothesline with the right gripper"}
+{"subtask_index": 1, "subtask": "Hang the clothes rack on the clothesline with the right gripper"}
+{"subtask_index": 2, "subtask": "Take the clothes off the clothes rack with the right gripper"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Hang the clothes on the clothes rack"}
+{"subtask_index": 5, "subtask": "Put clothes in the basket  with the left gripper"}
+{"subtask_index": 6, "subtask": "Pick up the clothes rack on the clothesline"}
+{"subtask_index": 7, "subtask": "Hang the clothes rack on the clothesline"}
+{"subtask_index": 8, "subtask": "Pick up clothes from the basket"}
+{"subtask_index": 9, "subtask": "Take the clothes off the clothes rack"}
+{"subtask_index": 10, "subtask": "Hang the clothes on the clothes rack with both grippers"}
+{"subtask_index": 11, "subtask": "Pick up clothes from the basket with the left gripper"}
+{"subtask_index": 12, "subtask": "abnormal"}
+{"subtask_index": 13, "subtask": "Put clothes in the basket"}
+{"subtask_index": 14, "subtask": "null"}

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