diff --git a/leju_robot_pass_the_cleaner_c/.gitattributes b/leju_robot_pass_the_cleaner_c/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/.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/leju_robot_pass_the_cleaner_c/README.md b/leju_robot_pass_the_cleaner_c/README.md new file mode 100644 index 0000000000000000000000000000000000000000..89420bc0455df6cfec182b9fa58782254cbe681b --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/README.md @@ -0,0 +1,314 @@ +--- +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 +--- + +# leju_robot_pass_the_cleaner_c + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `leju_robot` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `five_finger_hand` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `industry` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 444 | +| **Total Frames** | 162075 | +| **Total Tasks** | 1 | +| **Total Videos** | 1332 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 8.3GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +pick up the cleaner and put it on the table. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Turn the bottle to the front side.** +2. **Pick up the bottle from the table.** +3. **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 0:443 + + +## 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.camera_head_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_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 + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "leju_robot", "total_episodes": 444, "total_frames": 162075, "total_tasks": 1, "total_videos": 1332, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:443"}, "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.camera_head_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "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": [118], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w"]}, "action": {"dtype": "float32", "shape": [54], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +leju_robot_pass_the_cleaner_c_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.camera_head_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.camera_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.camera_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/leju_robot_pass_the_cleaner_c/annotations/eef_acc_mag_annotation.jsonl b/leju_robot_pass_the_cleaner_c/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/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/leju_robot_pass_the_cleaner_c/annotations/eef_direction_annotation.jsonl b/leju_robot_pass_the_cleaner_c/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/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/leju_robot_pass_the_cleaner_c/annotations/eef_velocity_annotation.jsonl b/leju_robot_pass_the_cleaner_c/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/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/leju_robot_pass_the_cleaner_c/annotations/gripper_activity_annotation.jsonl b/leju_robot_pass_the_cleaner_c/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/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/leju_robot_pass_the_cleaner_c/annotations/gripper_mode_annotation.jsonl b/leju_robot_pass_the_cleaner_c/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/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/leju_robot_pass_the_cleaner_c/annotations/scene_annotations.jsonl b/leju_robot_pass_the_cleaner_c/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c99bcebc7bf1ef3c5bb93eca6da1c16125b7989 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/annotations/scene_annotations.jsonl @@ -0,0 +1,448 @@ +{"scene_index": 0, "scene": "The yellow cardboard is positioned at the back left, while four bottles are placed in front, with one additional bottle located at the back right."} +{"scene_index": 1, "scene": "The yellow cardboard is located at the back left, with a bottle positioned at the back right and another bottle placed on the right side."} +{"scene_index": 2, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned across both the back and front sections."} +{"scene_index": 3, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 4, "scene": "Bottle at center position, Yellow cardboard at back left position, Bottle at back position, Bottle at front right position"} +{"scene_index": 5, "scene": "The bottle is in front, while the yellow cardboard is positioned at the back on the left side."} +{"scene_index": 6, "scene": "The yellow cardboard is located at the back left, with bottles positioned in the center, back, and front right."} +{"scene_index": 7, "scene": "The yellow cardboard is on the left, while there are four bottles positioned at the back right and front, with two of them specifically placed in the front right."} +{"scene_index": 8, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned to the right and back right."} +{"scene_index": 9, "scene": "The yellow cardboard is positioned at back left. The bottles are positioned at back and three at front (front left, front center, front right)."} +{"scene_index": 10, "scene": "The yellow cardboard is located at the back left, with five bottles positioned as follows: one bottle in front, another at the back, one in the front right, and two at the center."} +{"scene_index": 11, "scene": "The yellow cardboard is on the left, while there are five bottles positioned at the front right, center, back right, and right."} +{"scene_index": 12, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned at the back."} +{"scene_index": 13, "scene": "The yellow cardboard is positioned at the back left, while all four bottles are located in front of it."} +{"scene_index": 14, "scene": "The bottle is in the front right, another bottle is in the back right, and the yellow cardboard is on the left."} +{"scene_index": 15, "scene": "The yellow cardboard is positioned at the back left while the bottle is located closer to the front step-by-step explanation identify objects the two objects given are a yellow cardboard and a bottle determine positions yellow cardboard is at back left bottle is at front formulate sentence combine the information concisely to describe each object's position clearly answer the yellow cardboard is positioned at the back left while the bottle is located closer to the front."} +{"scene_index": 16, "scene": "The yellow cardboard is located at the back left position, while the bottle is placed behind it but without a specific lateral placement indicated."} +{"scene_index": 17, "scene": "The bottle is at the back, another bottle is in front and to the right, and a yellow cardboard box is located behind and to the left."} +{"scene_index": 18, "scene": "The bottle is positioned at the front. The yellow cardboard is located at the back left."} +{"scene_index": 19, "scene": "The yellow cardboard is positioned at the back left, while the bottles are located in multiple positions: two bottles are at the front, one bottle is at the front and another at the back right."} +{"scene_index": 20, "scene": "The yellow cardboard is on the left, two bottles are positioned to the right with one at the front and another at the back, while a bottle is also centered in the scene."} +{"scene_index": 21, "scene": "The yellow cardboard is at the back left, with three bottles positioned as follows: one in the center, one at the back, and another at the front right."} +{"scene_index": 22, "scene": "A central bottle is positioned in the middle. A yellow cardboard is located at the back left. Another bottle is placed to the right. A fourth bottle is situated at the back, and a fifth bottle is positioned at the back right."} +{"scene_index": 23, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right and back right."} +{"scene_index": 24, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned directly behind it."} +{"scene_index": 25, "scene": "The bottle is in the center, a yellow cardboard is at the back left, another bottle is behind it, and two more bottles are on the right and front right."} +{"scene_index": 26, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located in various positions: two at the front, one at the back right, and another also at the front."} +{"scene_index": 27, "scene": "A bottle is located at the front right, another bottle is positioned at the back right, a third bottle is on the right side without a specified depth, and a fourth bottle is placed at the back. To the left of these bottles, there is a yellow cardboard object."} +{"scene_index": 28, "scene": "The yellow cardboard is positioned at the back left, with multiple bottles arranged in various positions, including three at the front and one each at the back."} +{"scene_index": 29, "scene": "The central bottle is in the middle. The yellow cardboard is at the back left. There are two bottles at the back, and another bottle at the front right."} +{"scene_index": 30, "scene": "A yellow cardboard is on the left; multiple bottles are positioned in the center, right (two), and back right."} +{"scene_index": 31, "scene": "Bottle 1 is on the right side. Bottle 2 is at the back. Yellow cardboard is located at the back-left corner. Bottle 3 is positioned at the back-right."} +{"scene_index": 32, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in the front and back areas, with two at the front, one at the back, and one specifically at the back right."} +{"scene_index": 33, "scene": "The yellow cardboard is located at the back left, there are three bottles positioned as follows: one on the right, one at the back, and another at the back right."} +{"scene_index": 34, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, at the back right, and on the right."} +{"scene_index": 35, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 36, "scene": "Bottle is on the right. Bottle is in the front-right. Yellow cardboard is at the back-left. Bottle is at the back."} +{"scene_index": 37, "scene": "A yellow cardboard is located at the back left. Four bottles are positioned across the scene: one in the center, one on the right, one at the back, and another at the front right."} +{"scene_index": 38, "scene": "Yellow cardboard is on the left; two bottles are at the back."} +{"scene_index": 39, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 40, "scene": "The scene contains three bottles positioned on the right side, one bottle centered, a yellow cardboard located at the back-left area."} +{"scene_index": 41, "scene": "The yellow cardboard is on the left, with a bottle in the center, another bottle on the right, and a third bottle positioned at the back right."} +{"scene_index": 42, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 43, "scene": "The yellow cardboard is at the back left, while the bottles are positioned in the center, front (three times), and back."} +{"scene_index": 44, "scene": "The yellow cardboard is on the left, while the bottles are located at the right, back right, and front right positions."} +{"scene_index": 45, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 46, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned at different points: two in the back and one in the front."} +{"scene_index": 47, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 48, "scene": "The yellow cardboard is at the back left, a bottle is at the back right, and another bottle is at the front left."} +{"scene_index": 49, "scene": "The yellow cardboard is on the left, a bottle is in the center, a bottle is at the front right, and another bottle is at the front."} +{"scene_index": 50, "scene": "The back has a bottle, while the back left features a yellow cardboard. The front is occupied by three bottles."} +{"scene_index": 51, "scene": "The bottle is at the back, positioned behind the yellow cardboard on the back left side."} +{"scene_index": 52, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 53, "scene": "Bottle positioned on the right. Bottle (second) positioned at the back. Bottle (third) positioned on the right again. Yellow cardboard positioned at the back left."} +{"scene_index": 54, "scene": "The yellow cardboard is located at the back left of the scene. There are four bottles in total; two are positioned centrally, one is placed at the front right, and another is situated on the right side."} +{"scene_index": 55, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned at the back right."} +{"scene_index": 56, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in various locations: three at the front and one at the back."} +{"scene_index": 57, "scene": "The yellow cardboard is at the back left, while there are three bottles positioned on the right, one at the back and two others also on the right."} +{"scene_index": 58, "scene": "The scene contains multiple bottles positioned in various locations: one at the center, another at the back, and two on the right side. Additionally, there is a yellow cardboard located at the back-left position."} +{"scene_index": 59, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in the front and back right areas."} +{"scene_index": 60, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned at the back."} +{"scene_index": 61, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back right."} +{"scene_index": 62, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 63, "scene": "The yellow cardboard is positioned at the back left, while the bottle is centered between them."} +{"scene_index": 64, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across the scene with two in the front and one each slightly to the back and further back."} +{"scene_index": 65, "scene": "The yellow cardboard is on the left, with four bottles arranged around it, two in front, one at the front right, and one at the back right."} +{"scene_index": 66, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back."} +{"scene_index": 67, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located at the front and one bottle positioned at the back right."} +{"scene_index": 68, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 69, "scene": "There is a yellow cardboard on the left, and four bottles positioned at different locations around the front-right area."} +{"scene_index": 70, "scene": "The bottle is at the back, the yellow cardboard is at the back left, there is a bottle at the front right, another bottle at the back right, and a fifth bottle is on the right."} +{"scene_index": 71, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 72, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned at the back."} +{"scene_index": 73, "scene": "A bottle is on the right side; another bottle is at the back. Additionally, a yellow cardboard is located at the back left, and there are two more bottles positioned at the back right."} +{"scene_index": 74, "scene": "Yellow Cardboard is positioned on the left side of the scene. Bottles include one located at the back, another positioned in the front-right area, and two situated in the front."} +{"scene_index": 75, "scene": "The yellow cardboard is located at the back left position. There are four bottles positioned in various locations: two at the back and three at the front, with multiple bottles overlapping in their positions."} +{"scene_index": 76, "scene": "The yellow cardboard is on the left, while the bottles are positioned at the back right and two additional bottles are on the right."} +{"scene_index": 77, "scene": "There are six bottles positioned at the front right, right, and left sides, with three bottles located at the back right, one yellow cardboard at the back left."} +{"scene_index": 78, "scene": "The bottles are positioned on both sides, with one at right, another at back right, and a third also at right; there is a yellow cardboard to the left."} +{"scene_index": 79, "scene": "The yellow cardboard is positioned at the back left, while all four bottles are located in front of it."} +{"scene_index": 80, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned in various locations: two at the front and one each at the back right and front."} +{"scene_index": 81, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 82, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 83, "scene": "The yellow cardboard is on the left, and there are multiple bottles positioned to the right, back, and back right."} +{"scene_index": 84, "scene": "The yellow cardboard is at the back left, with a bottle also positioned at the back and another bottle in the center. There s a yellow object in the center, a bottle at the front right, and another bottle on the right side."} +{"scene_index": 85, "scene": "Yellow cardboard is located at the back left, the bottle in the center is positioned centrally, the bottle at the front right is situated at the front-right side, and another bottle is placed at the back."} +{"scene_index": 86, "scene": "There are four bottles located at the following positions: two in front (front left and front right), one on the back left, and another on the back right. Additionally, a yellow cardboard is placed at the back left position."} +{"scene_index": 87, "scene": "The bottle is at front left. The yellow cardboard is at back left. The bottle is at back right. The bottle is at right."} +{"scene_index": 88, "scene": "The yellow cardboard is on the left, with four bottles arranged around it: one in front right, two in front, and one in back right."} +{"scene_index": 89, "scene": "The bottle is centered, a yellow cardboard is at the back left, another bottle is placed behind it, and two bottles are positioned in the front right and on the right side."} +{"scene_index": 90, "scene": "The bottle is on the right side, another bottle is at the back, and the yellow cardboard is positioned at the back left."} +{"scene_index": 91, "scene": "The yellow cardboard is located at the back left, while there are five bottles positioned as follows: one in the center, one on the right, one at the front right, and two at the back."} +{"scene_index": 92, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 93, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned in various locations: one each at back, right, front left, and back right."} +{"scene_index": 94, "scene": "The yellow cardboard is located at the back left, while the two bottles on the right are positioned to its immediate right, and the three bottles on the back left are placed behind and to the left of it."} +{"scene_index": 95, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 96, "scene": "The yellow cardboard is on the left, with a bottle positioned to its right and another bottle located at the back right."} +{"scene_index": 97, "scene": "The central yellow cardboard is at the center, with three bottles in front and one at the back. The second yellow cardboard is positioned behind and to the left of the other yellow cardboard."} +{"scene_index": 98, "scene": "The yellow cardboard is positioned at the back left, with multiple bottles arranged around it in various positions including center, back, and two on the right."} +{"scene_index": 99, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 100, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 101, "scene": "The yellow cardboard is on the left, a bottle is on the right, and another bottle is positioned at the back right."} +{"scene_index": 102, "scene": "There are three bottles in front positions, two bottles in back positions, and a yellow cardboard located at the back left."} +{"scene_index": 103, "scene": "Yellow cardboard is positioned at the back left. A bottle is centered, another is in the front right, and two more are placed at the back."} +{"scene_index": 104, "scene": "A bottle is positioned at the front, another at the back, a third at the front right, the yellow cardboard is placed at the back left, and a final one is situated at the right side."} +{"scene_index": 105, "scene": "The yellow cardboard is on the left, with five bottles positioned behind it, in front of it on the right side, and in front."} +{"scene_index": 106, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 107, "scene": "Bottle is at back. Bottle is at right. Yellow cardboard is at back left. Bottle is at front right. Bottle is at front left."} +{"scene_index": 108, "scene": "The bottle is on the right side, another bottle is at the back right, and a yellow cardboard is placed at the back left."} +{"scene_index": 109, "scene": "The yellow cardboard is on the left, while the five bottles are positioned in front of it, with one at the center and four distributed around it."} +{"scene_index": 110, "scene": "A yellow cardboard is located at the back left, while four bottles are positioned in front of it, with three in the front and one in the back."} +{"scene_index": 111, "scene": "The yellow cardboard is positioned at the back left, while the two bottles are both located at the back."} +{"scene_index": 112, "scene": "The bottle is in the front right, another bottle is at the center, a yellow cardboard is on the left, another bottle is in the back right, and one more bottle is on the right."} +{"scene_index": 113, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 114, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 115, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 116, "scene": "The yellow cardboard is on the left, and there are three bottles positioned to the right."} +{"scene_index": 117, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 118, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 119, "scene": "Bottles are placed on the right, center, and another on the right, while a yellow cardboard is positioned at the back left."} +{"scene_index": 120, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 121, "scene": "The bottle is located at the back, and the yellow cardboard is positioned at the back left, creating a spatial arrangement where the cardboard is diagonally to the left of the bottle."} +{"scene_index": 122, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 123, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in front of it except for one bottle, which is also placed at the back."} +{"scene_index": 124, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 125, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in front (three at the front and one at the back)."} +{"scene_index": 126, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned centrally."} +{"scene_index": 127, "scene": "The yellow cardboard is on the left, with bottles centered, one on the right side, another also on the right side, and a fifth bottle positioned at the back right."} +{"scene_index": 128, "scene": "Yellow cardboard is on the left, while bottles are located at various positions including right, front right, back right, and another bottle is also positioned to the right."} +{"scene_index": 129, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 130, "scene": "The yellow cardboard is on the left. The bottle at back right is positioned diagonally opposite to it. Another bottle is in front right, adjacent to the front one. Two bottles are placed in front, side by side."} +{"scene_index": 131, "scene": "The yellow cardboard is on the left, with five bottles arranged around it in various positions including center, front right, right, and back right."} +{"scene_index": 132, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 133, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back."} +{"scene_index": 134, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 135, "scene": "The bottle is in the center, another bottle is also in the center, a yellow cardboard is at the back left, and there s a bottle at the back."} +{"scene_index": 136, "scene": "The first bottle is positioned in the front right. The second bottle is positioned on the right. The yellow cardboard is positioned on the left. The third bottle is positioned at the back right. The fourth bottle is positioned at the center."} +{"scene_index": 137, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 138, "scene": "The bottle is centered, while the yellow cardboard is located at the back left position relative to it."} +{"scene_index": 139, "scene": "The yellow cardboard is positioned at the back left, with three bottles placed in various locations: one in the center, one at the front right, and another at the back."} +{"scene_index": 140, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 141, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 142, "scene": "The bottle is at the center, another bottle is behind it to the back, a yellow cardboard is positioned at the back left, and another bottle is located on the right side."} +{"scene_index": 143, "scene": "The yellow cardboard is located at the back left, with bottles positioned in various locations: one at the front, another at the back, one at the front right, and a fourth on the right side."} +{"scene_index": 144, "scene": "The scene contains three bottles positioned at the front right and one yellow cardboard placed at the back left."} +{"scene_index": 145, "scene": "The right bottle is located on the right side; another bottle is in the center. The yellow cardboard is positioned at the back left."} +{"scene_index": 146, "scene": "The bottle is at the back, positioned behind the yellow cardboard on the back left side."} +{"scene_index": 147, "scene": "The yellow cardboard is on the left, with three bottles positioned around it: one on the right, one at the back right, and another on the left."} +{"scene_index": 148, "scene": "The bottle is on the right side, the yellow cardboard is at the back-left, another bottle is in the center, and a third bottle is also on the right."} +{"scene_index": 149, "scene": "The yellow cardboard is on the left, and two bottles are both positioned to the right."} +{"scene_index": 150, "scene": "The yellow cardboard is on the left, while two bottles are both positioned at the back."} +{"scene_index": 151, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 152, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 153, "scene": "The yellow cardboard is at the back left and bottles are located at front left, back right, and center."} +{"scene_index": 154, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 155, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in various places with most at the front and one at the back."} +{"scene_index": 156, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are located in various positions: three at the front and two at the back."} +{"scene_index": 157, "scene": "The yellow cardboard is located at the back-left, with bottles positioned at the back-right, front-left, and right sides."} +{"scene_index": 158, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 159, "scene": "The yellow cardboard is positioned at the back left, while four bottles are placed in various positions around it."} +{"scene_index": 160, "scene": "The bottle is on the right, another bottle is at the back right, and a yellow cardboard is placed at the back left."} +{"scene_index": 161, "scene": "The yellow cardboard is on the left, while all four bottles are positioned in front of it, with one bottle located at the back."} +{"scene_index": 162, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 163, "scene": "The scene features multiple bottles positioned in various locations: three bottles are at the front, one is at the back right, and a yellow cardboard is at the back left."} +{"scene_index": 164, "scene": "The bottle is at front right, another bottle is at back left, a third bottle is at back right, another bottle is at right, and the fifth bottle is at center, while the yellow cardboard is located at back left."} +{"scene_index": 165, "scene": "The yellow cardboard is on the left, with four bottles arranged around itβ€”two in front (one slightly to the right of the other), one in front right, and one in back right."} +{"scene_index": 166, "scene": "Yellow cardboard is on the back left bottle is in the center front right bottle is there another bottle is on the back left and two bottles are on the back right."} +{"scene_index": 167, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 168, "scene": "There is a bottle at the front left, yellow cardboard at the back left, a bottle at the back, and a bottle at the front right."} +{"scene_index": 169, "scene": "The scene contains two bottles on the right side (one at back right and one directly to the right), with a yellow cardboard positioned at the back left."} +{"scene_index": 170, "scene": "Yellow cardboard is located at the back left, the first bottle is positioned in the center, the second bottle is placed at the front right, the third bottle is situated on the right side, and the fourth bottle is located at the back."} +{"scene_index": 171, "scene": "The scene contains a total of five bottles placed at various positions: two in the front left, one on the right, another also on the right, and one centered. Additionally, there is a yellow cardboard located at the back left position."} +{"scene_index": 172, "scene": "The bottle is in the center, another bottle is at the back left, a third bottle is on the right, and the yellow cardboard is at the back."} +{"scene_index": 173, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 174, "scene": "The bottle is in the back, the yellow cardboard is at the back left, and there are two bottles in the center."} +{"scene_index": 175, "scene": "The bottle is located at the back, and the yellow cardboard is positioned at the back left, creating a spatial arrangement where the cardboard is diagonally to the left of the bottle."} +{"scene_index": 176, "scene": "Bottle is on the right. Yellow cardboard is on the left. Bottle is on the back right. Bottle is on the right."} +{"scene_index": 177, "scene": "A yellow cardboard is on the left, while four bottles are arranged around it, positioned in the center, front right, right, and back right."} +{"scene_index": 178, "scene": "Bottle at front, Yellow cardboard on left, Bottle at back, Bottle in front right, Bottle on right."} +{"scene_index": 179, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 180, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in front of it except for one bottle, which is also placed at the back."} +{"scene_index": 181, "scene": "The bottle is positioned on the right. The yellow cardboard is positioned at the back left. The bottle is positioned at the back."} +{"scene_index": 182, "scene": "There is a bottle in front of another bottle. A yellow cardboard is located at the back left position relative to the other objects."} +{"scene_index": 183, "scene": "The bottle is located at the center, while the yellow cardboard is positioned at the back left."} +{"scene_index": 184, "scene": "The bottle is at the front, a yellow cardboard is on the left, another bottle is at the back, and there are two more bottles located at the front right and front."} +{"scene_index": 185, "scene": "The front has two bottles, while the back left features a yellow cardboard."} +{"scene_index": 186, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 187, "scene": "The yellow cardboard is positioned at the back left, while all five bottles are located in the front except one, which is at the back right."} +{"scene_index": 188, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned to the right and back right."} +{"scene_index": 189, "scene": "The yellow cardboard is on the left, while the six bottles are positioned across different locations from the back to the front, with some clustered in the front and others spread out towards the back."} +{"scene_index": 190, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back relative to it."} +{"scene_index": 191, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 192, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, on the right, and at the back right and front right."} +{"scene_index": 193, "scene": "The yellow cardboard is on the left, while the two bottles are both positioned at the back."} +{"scene_index": 194, "scene": "The bottle is centered in the scene, while another bottle is positioned slightly behind it. A yellow cardboard is located at the back left area, and a third bottle is placed towards the front right."} +{"scene_index": 195, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned in the center."} +{"scene_index": 196, "scene": "The yellow cardboard is located at the back left, while there are five bottles positioned across the scene: two in the front (one on the right and one in the center), one in the back, and another bottle positioned further back."} +{"scene_index": 197, "scene": "The bottle is centered, while the yellow cardboard is positioned at the back left."} +{"scene_index": 198, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 199, "scene": "The yellow cardboard is located at the back left, with multiple bottles positioned across different locations including the back right, front, and front again."} +{"scene_index": 200, "scene": "The yellow cardboard is located at the back left position, while the bottle is placed behind it but without a specific lateral placement indicated."} +{"scene_index": 201, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 202, "scene": "The yellow cardboard is on the left, with multiple bottles positioned around it, including one in front right, one in back right, and others located at the back and right positions."} +{"scene_index": 203, "scene": "The yellow cardboard is at the back left, while there are bottles positioned at the back, front right, right, and back right."} +{"scene_index": 204, "scene": "The yellow cardboard is positioned at the back left, while the bottles are located in the center and multiple instances are placed at the front."} +{"scene_index": 205, "scene": "The bottle is positioned at the center, while the yellow cardboard is located at the back left."} +{"scene_index": 206, "scene": "The bottle is on the right, there s a yellow cardboard at the back left, another bottle behind it, and the yellow color is also positioned at the back."} +{"scene_index": 207, "scene": "The bottle is centered with two additional bottles positioned at the back and front right, while a yellow cardboard is located at the back left."} +{"scene_index": 208, "scene": "The yellow cardboard is on the left, while two bottles are centered."} +{"scene_index": 209, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in various positions: two in front and two at the back."} +{"scene_index": 210, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 211, "scene": "The bottle is at the back, positioned behind the yellow cardboard on the back left side."} +{"scene_index": 212, "scene": "In the scene, a yellow cardboard is positioned at the back left, while multiple bottles are arranged across the front and back right positions."} +{"scene_index": 213, "scene": "The bottle is at the back, positioned behind the yellow cardboard on the back left side."} +{"scene_index": 214, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned at various locations: one at the back, another in front, and two others located specifically at the front right."} +{"scene_index": 215, "scene": "The yellow cardboard is positioned at the back left. Four bottles are present: two in the front, one in the back, and another also in the front."} +{"scene_index": 216, "scene": "The front right has a bottle, to its left is a yellow cardboard, the center has another bottle, behind it on the back right is a third bottle, and finally, there s another bottle positioned at the right."} +{"scene_index": 217, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 218, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across the scene with two in the front and one each slightly to the back and further back."} +{"scene_index": 219, "scene": "The bottle is on the right and back, the other bottle is also on the back but positioned to the left, and the yellow cardboard is located at the back-left position."} +{"scene_index": 220, "scene": "The bottle is on the right, with three other bottles positioned at the back of the scene."} +{"scene_index": 221, "scene": "The scene features a central bottle, with another bottle at the front right, two bottles positioned in the back area (one slightly to the left and one further back), and a yellow cardboard located at the back left."} +{"scene_index": 222, "scene": "The bottle is in front, there s a yellow cardboard to its left, another bottle to the right, one more bottle at front right, and a final bottle at the back."} +{"scene_index": 223, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 224, "scene": "The bottle is located at the back, the yellow cardboard is positioned on the back left, there is a bottle in the center, another bottle is placed on the right."} +{"scene_index": 225, "scene": "The yellow cardboard is located at the back left, with multiple bottles positioned both in front and behind it."} +{"scene_index": 226, "scene": "In this scene, there are four bottles located at the front of the image, and one yellow cardboard positioned at the back left."} +{"scene_index": 227, "scene": "The yellow cardboard is on the left, with bottles positioned at the back, front, front right, and front."} +{"scene_index": 228, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned across both the front and back areas."} +{"scene_index": 229, "scene": "The yellow cardboard is positioned on the left, while two bottles are located on the right (one at the front and one at the back), and there is an additional bottle also placed on the right."} +{"scene_index": 230, "scene": "There are three bottles placed in different positions around the yellow cardboard."} +{"scene_index": 231, "scene": "The yellow cardboard is located at the back-left. Two bottles are positioned at the back and front-right respectively. Another bottle is placed in the center."} +{"scene_index": 232, "scene": "A bottle is on the right, a yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 233, "scene": "The yellow cardboard is on the left, while there are three bottles positioned in various locations: one at the back and two on the right."} +{"scene_index": 234, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in front of it, including three in the front row and one behind."} +{"scene_index": 235, "scene": "The yellow cardboard is on the left, while the bottle is positioned in the center."} +{"scene_index": 236, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 237, "scene": "The yellow cardboard is positioned at the back left, a bottle is in the center, another bottle is located at the front right, two additional bottles are placed at the back."} +{"scene_index": 238, "scene": "The bottle is on the right, the yellow cardboard is at the back left, and there are two additional bottles behind it."} +{"scene_index": 239, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 240, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 241, "scene": "The bottle is centered, while the yellow cardboard is placed to its left."} +{"scene_index": 242, "scene": "The bottle is on the right, while a yellow cardboard is positioned at the back left. There are two additional bottles located at the back of the scene."} +{"scene_index": 243, "scene": "The bottle is at center, the yellow cardboard is at back left, and another bottle is at front right."} +{"scene_index": 244, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned to the right and one at the back right."} +{"scene_index": 245, "scene": "The bottle is on the right, there s a yellow cardboard at the back left, another bottle at the back, and a third bottle at the back right."} +{"scene_index": 246, "scene": "The bottle is in the center, another bottle is at the back, a yellow cardboard is at the back left, and a third bottle is at the front right."} +{"scene_index": 247, "scene": "The bottle is positioned at the front right, another bottle is at the back right, a third bottle is on the right, and the yellow cardboard is located to the left."} +{"scene_index": 248, "scene": "Bottle 1 is at the back, yellow cardboard is at the back-left, and Bottles 2 and 3 are both at the front."} +{"scene_index": 249, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 250, "scene": "The yellow cardboard is on the left, with bottles positioned in front, front-right, front, and back-right locations."} +{"scene_index": 251, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 252, "scene": "The yellow cardboard is located at the back left and there are bottles positioned at the back front right center and front."} +{"scene_index": 253, "scene": "The yellow cardboard is positioned at the back left, with four bottles arranged around it: one in the center, one at the back, one on the right, and one at the front right."} +{"scene_index": 254, "scene": "The yellow cardboard is on the left, while bottles are positioned in the front right, center, back right, and right."} +{"scene_index": 255, "scene": "The yellow cardboard is located at the back left. There is a bottle positioned at the front right. Another bottle is placed at the back. A bottle is situated at the back right. Lastly, there is a bottle on the right side."} +{"scene_index": 256, "scene": "Bottle 1 is located at the back right. Yellow cardboard is positioned on the left. Bottle 2 and Bottle 3 are both placed to the right."} +{"scene_index": 257, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 258, "scene": "The yellow cardboard is on the left, while there are four bottles located at the front and one bottle positioned in the center."} +{"scene_index": 259, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 260, "scene": "The right bottle is positioned on the right side, while three bottles and a yellow cardboard box are located at the back left."} +{"scene_index": 261, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 262, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 263, "scene": "Bottle 1 is positioned at the center, the yellow cardboard is located at the back left, bottle 2 is placed at the back, and bottle 3 is situated at the front right."} +{"scene_index": 264, "scene": "The four bottles are positioned at the back, right, front right, and left of the scene, while a yellow cardboard is located at the back left."} +{"scene_index": 265, "scene": "The bottle is on the right side; there s a yellow cardboard at the back left; another bottle is placed in front of it on the right; and a third bottle is located at the back."} +{"scene_index": 266, "scene": "A bottle is on the right, another bottle is at the back, a yellow cardboard is in the back left, and there s another bottle on the right."} +{"scene_index": 267, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 268, "scene": "The bottle is positioned at the back, while the yellow cardboard is located to the left."} +{"scene_index": 269, "scene": "The bottles are positioned on the right, back, and back right, while the yellow cardboard is located at the back left."} +{"scene_index": 270, "scene": "The bottle is on the right, the yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 271, "scene": "The yellow cardboard is at the back left, a bottle is in front to its left, and another bottle is positioned diagonally across from it on the back right."} +{"scene_index": 272, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned across both the back and front sections."} +{"scene_index": 273, "scene": "The bottle is on the right side, there s a yellow cardboard at the back left, another bottle is at the back, and a third bottle is positioned at the front right."} +{"scene_index": 274, "scene": "A yellow cardboard is located at the back left, while four bottles are positioned in front, with one additional bottle placed at the back."} +{"scene_index": 275, "scene": "Yellow cardboard is on the left, a bottle is in the back right, a bottle is on the right, another bottle is on the right, and another bottle is in the back right."} +{"scene_index": 276, "scene": "Yellow cardboard is at the back left, there are three bottles: one at the back, one on the right, and one at the front right."} +{"scene_index": 277, "scene": "The yellow cardboard is on the left, and the bottle is centered between them."} +{"scene_index": 278, "scene": "A yellow cardboard is located at the back left, while five bottles are positioned in the front and back right areas."} +{"scene_index": 279, "scene": "The yellow cardboard is on the left, while the three bottles are positioned with two on the right and one on the left."} +{"scene_index": 280, "scene": "Bottle is at center Yellow cardboard is at back left Bottle is at front right Bottle is at right Bottle is at back"} +{"scene_index": 281, "scene": "The yellow cardboard is on the left, while three bottles are positioned to the right."} +{"scene_index": 282, "scene": "Yellow cardboard is positioned at back left, two bottles are located in front, one bottle is placed at the back."} +{"scene_index": 283, "scene": "The yellow cardboard is on the left, with a bottle also on the left. There are two bottles positioned to the right and back right."} +{"scene_index": 284, "scene": "The bottle is positioned at the center, and the yellow cardboard is located to its left."} +{"scene_index": 285, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located at both the back and front positions."} +{"scene_index": 286, "scene": "The bottle is at the center, and the yellow cardboard is on its left."} +{"scene_index": 287, "scene": "The yellow cardboard is on the left side, while there are five bottles located at various positions: three are placed towards the back right and two are positioned directly to the right."} +{"scene_index": 288, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in the front and one bottle positioned at the back right."} +{"scene_index": 289, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 290, "scene": "The bottle is in the front right, another bottle is on the right, a yellow cardboard is at the back left, and a third bottle is at the back."} +{"scene_index": 291, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in front, with three of them clustered together and one situated slightly behind them."} +{"scene_index": 292, "scene": "The yellow cardboard is positioned at the back left, there are three bottles located in the center, back, and front right positions respectively."} +{"scene_index": 293, "scene": "The yellow cardboard is positioned at back left. The bottles are positioned at back and front including three positions (front left, front center, and front right)."} +{"scene_index": 294, "scene": "The yellow cardboard is on the left, while the bottle is centrally positioned."} +{"scene_index": 295, "scene": "The first bottle is on the right. The second bottle is at the back. There is a yellow cardboard at the back left. The third bottle is in the front right."} +{"scene_index": 296, "scene": "The yellow cardboard is located at the back left position, while the bottle is placed behind it but without a specific lateral placement indicated."} +{"scene_index": 297, "scene": "The bottle is in the front right, with another bottle behind it on the back right and back (unspecified side), a yellow cardboard is at the back left, and there s a bottle on the right."} +{"scene_index": 298, "scene": "The bottle is on the right side, another bottle is behind it, and a yellow cardboard box is located at the back left."} +{"scene_index": 299, "scene": "The yellow cardboard is located at the back left position, while there are four bottles placed in the following positions: one at the front left, one at the back right, and two at the front right."} +{"scene_index": 300, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 301, "scene": "The yellow cardboard is located at the back left, with bottles positioned in the following locations: one at the front left, another on the right, and two more at the back right."} +{"scene_index": 302, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in the front, with one specifically noted to be at the back right."} +{"scene_index": 303, "scene": "There is a yellow cardboard positioned at the back left, while there are five bottles located in various positions: three at the front and two at the back."} +{"scene_index": 304, "scene": "A yellow cardboard is located at the back left, while four bottles are positioned in front of it, with three in the front and one in the back."} +{"scene_index": 305, "scene": "The yellow cardboard is on the left, with multiple bottles positioned in front, including two at the front and one at the back."} +{"scene_index": 306, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 307, "scene": "The yellow cardboard is on the left, while the bottle is centered."} +{"scene_index": 308, "scene": "The yellow cardboard is positioned at the back left. There are four bottles in total three are placed in front and one is located at the back."} +{"scene_index": 309, "scene": "A yellow cardboard is located at the back left, a bottle is placed at the back, and another bottle is positioned in the center."} +{"scene_index": 310, "scene": "The yellow cardboard is positioned at the back left. Four bottles are present: two in the front, one in the back, and another also in the front."} +{"scene_index": 311, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned directly behind it."} +{"scene_index": 312, "scene": "The bottle is at the center, and the yellow cardboard is on the left."} +{"scene_index": 313, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 314, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 315, "scene": "Bottles occupy both front left and front right positions, while a yellow cardboard is located at the back left."} +{"scene_index": 316, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back relative to it."} +{"scene_index": 317, "scene": "A bottle is at the center, a bottle is in the front right, two bottles are at the back with one also accompanied by a yellow cardboard at the back left."} +{"scene_index": 318, "scene": "There are five objects in total: four bottles positioned at the center, front right, back right, and right, and a yellow cardboard located at the back left."} +{"scene_index": 319, "scene": "The yellow cardboard is on the left, with four bottles in front (three overlapping and one behind at back right)."} +{"scene_index": 320, "scene": "The yellow cardboard is positioned in the front right, while the bottle is located at the back left."} +{"scene_index": 321, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in front (three at the front and one at the back)."} +{"scene_index": 322, "scene": "The yellow cardboard is located at the back left, while three bottles are positioned across the back, center-left, and center-right."} +{"scene_index": 323, "scene": "The yellow cardboard is at the back left, while the bottles are positioned in the center, front right, and back."} +{"scene_index": 324, "scene": "The yellow cardboard is located at the back left. The bottle is located at the front and mentioned multiple times. Additionally, the bottle is also present at the back and back right."} +{"scene_index": 325, "scene": "A bottle is located at the front right position. There is a yellow cardboard on the left side. Another bottle is positioned in the center. A fourth bottle is also placed at the front right."} +{"scene_index": 326, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 327, "scene": "The yellow cardboard is positioned at the back left, while there are multiple bottles located in various positions: two at the front (one on the right), and one at the center."} +{"scene_index": 328, "scene": "The yellow cardboard is on the left, while the two bottles are both positioned at the back."} +{"scene_index": 329, "scene": "A yellow cardboard is located at the back-left position. Multiple bottles are positioned in the front and right areas."} +{"scene_index": 330, "scene": "The yellow cardboard is located at the back left, while there are five bottles positioned in various locations: two at the back (one on the right and one overlapping), one on the right, and one on the front left."} +{"scene_index": 331, "scene": "There is a bottle at the back right. There is also a yellow cardboard in the center. A bottle is placed on the right side, another bottle is positioned at the back, and another bottle is located on the right. Lastly, a yellow cardboard is positioned to the left."} +{"scene_index": 332, "scene": "The yellow cardboard is on the left, while the bottle is centrally positioned."} +{"scene_index": 333, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 334, "scene": "The bottle is on the right side, with another bottle behind it, a third bottle in front and to the right, and a yellow cardboard located at the back left."} +{"scene_index": 335, "scene": "There are three bottles: two at the front and one at the back, along with a yellow cardboard positioned at the back left."} +{"scene_index": 336, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 337, "scene": "The bottle is on the right, a yellow cardboard is at the back left, another bottle is behind it, and a third bottle is in front on the right."} +{"scene_index": 338, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 339, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 340, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located on the right and two of them are at the back right."} +{"scene_index": 341, "scene": "The yellow cardboard is positioned at the back left. There are four bottles in total: two are in the front and two are at the back."} +{"scene_index": 342, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 343, "scene": "Yellow cardboard is located at the back left, the first bottle is positioned at the back, and the second bottle is in the center."} +{"scene_index": 344, "scene": "The bottle is located at the back, and the yellow cardboard is positioned at the back left, creating a spatial arrangement where the cardboard is diagonally to the left of the bottle."} +{"scene_index": 345, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 346, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 347, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located centrally."} +{"scene_index": 348, "scene": "The bottle is on the right, another bottle is at the back left, and two more bottles are positioned at the back."} +{"scene_index": 349, "scene": "There is a yellow cardboard on the left and two bottles at the back."} +{"scene_index": 350, "scene": "A yellow cardboard is located at the back left, while four bottles are positioned across different locations: two at the front and one each at the back right."} +{"scene_index": 351, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 352, "scene": "The yellow cardboard is positioned at the back left, and there are multiple bottles located at various positions: one on the right, one in the front right, another on the right, and one more at the back."} +{"scene_index": 353, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 354, "scene": "The bottle is located at the back, and the yellow cardboard is positioned at the back left, creating a spatial arrangement where the cardboard is diagonally to the left of the bottle."} +{"scene_index": 355, "scene": "The bottle is on the right side, another bottle is at the back right, and the yellow cardboard is positioned at the back left."} +{"scene_index": 356, "scene": "The scene features a bottle in the center and another bottle in the front right. Additionally, there s a yellow cardboard located at the back left, along with bottles positioned at the back right and on the right side."} +{"scene_index": 357, "scene": "The yellow cardboard is at the back left and there are four bottles placed in various positions two are at the front one on the left and one on the right one is at the right and one is at the back."} +{"scene_index": 358, "scene": "The yellow cardboard is on the left side. There are multiple bottles positioned in various locations: one at the front, another at front right, and two more at the back right."} +{"scene_index": 359, "scene": "A bottle is in the center, a yellow cardboard is at the back left, another bottle is also in the center, and the last bottle is on the right."} +{"scene_index": 360, "scene": "The yellow cardboard is located at the back left. There are five bottles arranged around it: two in the front (left and center), one behind the front left bottle, one directly behind the yellow cardboard, and one more positioned to the front right."} +{"scene_index": 361, "scene": "The bottle in the center is accompanied by three other bottles positioned at the back, back left, and front right."} +{"scene_index": 362, "scene": "The yellow cardboard is on the left side. There are five bottles positioned in various locations: one at the back, two at the front (one in the middle and one slightly to the right), and two more arranged around the front area."} +{"scene_index": 363, "scene": "Yellow cardboard is positioned at the back left and bottles are located in various positions: one bottle is centered, another is on the right side, and a third is at the back right."} +{"scene_index": 364, "scene": "The bottle is centered in the frame; there are multiple bottles positioned around it, including one at the front right and another towards the back, with a yellow cardboard located at the back left."} +{"scene_index": 365, "scene": "The yellow cardboard is located at the back left, with a bottle also positioned at the back left, and another bottle placed on the right."} +{"scene_index": 366, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back."} +{"scene_index": 367, "scene": "The yellow cardboard is on the left, while both bottles are positioned behind it."} +{"scene_index": 368, "scene": "The yellow cardboard is on the left, two bottles are positioned at the front right, with one overlapping the other."} +{"scene_index": 369, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 370, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are placed in various positions: one at the center, one at the back, one on the right, and two at the front right."} +{"scene_index": 371, "scene": "Bottle is on the right, Yellow cardboard is at the back left, Another bottle is on the right, A third bottle is in the center."} +{"scene_index": 372, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, but there is no direct interaction or specific relationship mentioned between them."} +{"scene_index": 373, "scene": "A yellow cardboard is on the left, with multiple bottles positioned at the back, front right, and front."} +{"scene_index": 374, "scene": "Yellow cardboard is located at the back left of the scene and multiple bottles are positioned throughout the space, with some in front and others towards the back, including one bottle placed specifically at the back right."} +{"scene_index": 375, "scene": "The yellow cardboard is on the left, with a bottle to its right and another bottle positioned at the back right."} +{"scene_index": 376, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned directly behind it."} +{"scene_index": 377, "scene": "The bottle is centered, while the yellow cardboard is located at the back left."} +{"scene_index": 378, "scene": "The bottle is positioned at the center, while the yellow cardboard is located on the left side."} +{"scene_index": 379, "scene": "Bottle is on the right. Yellow cardboard is at the back-left."} +{"scene_index": 380, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 381, "scene": "The bottle is on the right side, with two other bottles also positioned on the right and center, while a yellow cardboard is located at the back left."} +{"scene_index": 382, "scene": "The yellow cardboard is on the left, with four bottles arranged in front of it (three in front and one at the back)."} +{"scene_index": 383, "scene": "The bottle is in front; a yellow cardboard is on the left; another bottle is at front right; a third bottle is at the center; and a fourth bottle is at the back."} +{"scene_index": 384, "scene": "Bottle is on the right side, another bottle is at the back right, and yellow cardboard is located at the back left."} +{"scene_index": 385, "scene": "The yellow cardboard is located at the back left, while there are four bottles positioned across the scene with two in the front and one each slightly to the back and further back."} +{"scene_index": 386, "scene": "The scene contains three bottles positioned at different locations: one in the center, one in the back left, and another in the front right; a yellow cardboard is located at the back left."} +{"scene_index": 387, "scene": "The bottle is at the back, and the yellow cardboard is on the left."} +{"scene_index": 388, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 389, "scene": "The yellow cardboard is positioned at the back left. The bottle in the center and the two bottles on the right are placed behind it, with one of them also located at the back."} +{"scene_index": 390, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back relative to it."} +{"scene_index": 391, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back."} +{"scene_index": 392, "scene": "Bottle positioned to the right Yellow cardboard located at the back left Bottle placed at the back Bottle situated at the back right"} +{"scene_index": 393, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in various locations: three at the front and one at the back."} +{"scene_index": 394, "scene": "The bottle is at the front right, another bottle is behind it, and a yellow cardboard is positioned at the back left."} +{"scene_index": 395, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 396, "scene": "The yellow cardboard is on the left, while two bottles are both positioned at the back."} +{"scene_index": 397, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back."} +{"scene_index": 398, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 399, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right, center, front, and another front."} +{"scene_index": 400, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 401, "scene": "Yellow cardboard is on the left and bottles are arranged with one in front right, two in front, and one in back right positions."} +{"scene_index": 402, "scene": "A bottle is in front; another bottle is also in front. A yellow cardboard is positioned at the back on the left side of the frame. Additionally, a bottle is placed towards the back on the right side of the frame."} +{"scene_index": 403, "scene": "The yellow cardboard is on the left, and the bottle is centered between them."} +{"scene_index": 404, "scene": "The bottle is on the right. The yellow cardboard is at the back left. There is a bottle in the back."} +{"scene_index": 405, "scene": "The yellow cardboard is on the left, and there are five bottles arranged around it in different positions: one bottle is at the back, two are positioned towards the front (one slightly to the right), and another bottle is placed further out in the front-right area."} +{"scene_index": 406, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in various locations: three at the front and one at the back."} +{"scene_index": 407, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 408, "scene": "The bottle is located at the back right, another bottle is at the right, and the yellow cardboard is placed at the back left."} +{"scene_index": 409, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right, specifically at the back right and front right."} +{"scene_index": 410, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 411, "scene": "The yellow cardboard is on the left, while two bottles are positioned to the right and one bottle is at the back right."} +{"scene_index": 412, "scene": "The yellow cardboard is positioned on the left, while multiple bottles are placed in various positions on the right and back right."} +{"scene_index": 413, "scene": "The yellow cardboard is on the left side, while there are multiple bottles positioned on the right side (two at the front-right and two more toward the back-right)."} +{"scene_index": 414, "scene": "The bottle is on the right, the yellow cardboard is at the back left, the bottle is in the center, and the bottle is on the right."} +{"scene_index": 415, "scene": "The yellow cardboard is located at the back left, while there are five bottles positioned across the back, back right, and front sections."} +{"scene_index": 416, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 417, "scene": "The yellow cardboard is located at the back left. The bottles are positioned in various locations: two are at the front and one each at the back and front."} +{"scene_index": 418, "scene": "The yellow cardboard is on the left, and there are five bottles positioned in various locations around it."} +{"scene_index": 419, "scene": "The bottle is positioned at back, front right, back right, right, and yellow cardboard is placed at back left."} +{"scene_index": 420, "scene": "The yellow cardboard is on the left, and there are multiple bottles arranged in various positions including front, front-right, and back-right."} +{"scene_index": 421, "scene": "There are four bottles positioned at the back, center, front, and front of the image, with a yellow cardboard located in the back left area."} +{"scene_index": 422, "scene": "The yellow cardboard is located at the back left, while four bottles are positioned around it: two in the front (one on the left and one on the right) and two in the back (also one on the left and one on the right)."} +{"scene_index": 423, "scene": "The yellow cardboard is located at the back left position, while the bottle is placed behind it but without a specific lateral placement indicated."} +{"scene_index": 424, "scene": "The yellow cardboard is on the left, while there are five bottles positioned at different locations: two bottles on the right (front and back), one bottle in front of the right side, and another bottle to the right."} +{"scene_index": 425, "scene": "The yellow cardboard is positioned at the back left, with bottles located in positions back, back right (two instances), and front."} +{"scene_index": 426, "scene": "The yellow cardboard is on the left, a bottle is on the right, and another bottle is positioned at the back right."} +{"scene_index": 427, "scene": "The yellow cardboard is at the back left, two bottles are behind itβ€”one at the back and one in the center."} +{"scene_index": 428, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned on the right side, including one in the front right, back right, and center-right."} +{"scene_index": 429, "scene": "The yellow cardboard is on the left, a bottle is on the right, and another bottle is located at the back right."} +{"scene_index": 430, "scene": "The yellow cardboard is located at the back left, with two bottles positioned behind and in front of it respectively."} +{"scene_index": 431, "scene": "Yellow cardboard is located at the back left. Bottles are positioned in the center."} +{"scene_index": 432, "scene": "Yellow cardboard is positioned at the back left, the first bottle is placed in the center, the second bottle is located at the back, and the third and fourth bottles are situated on the right side."} +{"scene_index": 433, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 434, "scene": "The bottle is on the right side, another bottle is at the back right, and a yellow cardboard is located at the back left."} +{"scene_index": 435, "scene": "At back left is a yellow cardboard; two bottles are positioned at back and front respectively."} +{"scene_index": 436, "scene": "Bottle is in the center yellow cardboard is at the back left bottle is at the back bottle is on the right and bottle is also on the right."} +{"scene_index": 437, "scene": "The yellow cardboard is positioned at the back left, while the two bottles are located in front and back positions respectively."} +{"scene_index": 438, "scene": "The yellow cardboard is on the left side, while the bottle is positioned at the back."} +{"scene_index": 439, "scene": "A single bottle is at the center, a yellow cardboard is located in the back left corner, another bottle is placed at the front right, and a third bottle is positioned towards the back."} +{"scene_index": 440, "scene": "The yellow cardboard is located at the back-left position, while the bottle is centrally positioned."} +{"scene_index": 441, "scene": "The bottle is at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 442, "scene": "The yellow cardboard is on the left, with five bottles arranged in front of it; three in front and two behind."} +{"scene_index": 443, "scene": "The yellow cardboard is on the left side, positioned to the left of the bottle, which is located at the back."} +{"scene_index": 444, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 445, "scene": "The yellow cardboard is on the left. A bottle is in front right, a bottle is in front, two bottles are in front, and a bottle is at back right."} +{"scene_index": 446, "scene": "The yellow cardboard is positioned at the back left, while all three bottles are located in the front."} +{"scene_index": 447, "scene": "The bottle is in the center, another bottle is at the front right, the yellow cardboard is at the back left, and yellow is in the center."} diff --git a/leju_robot_pass_the_cleaner_c/annotations/subtask_annotations.jsonl b/leju_robot_pass_the_cleaner_c/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..859f9c2ac9c76eadc3c726e2d40e25c766c76c61 --- /dev/null +++ b/leju_robot_pass_the_cleaner_c/annotations/subtask_annotations.jsonl @@ -0,0 +1,3 @@ +{"subtask_index": 0, "subtask": "Turn the bottle to the front side."} +{"subtask_index": 1, "subtask": "Pick up the bottle from the table."} +{"subtask_index": 2, "subtask": "null"} diff --git 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