Copy R1_Lite_move_the_position_of_the_glass into RoboCOIN_useable

R1_Lite_move_the_position_of_the_glass/.gitattributes

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

R1_Lite_move_the_position_of_the_glass/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_glass
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 36 |
+| **Total Frames** | 12480 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 144 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 423.9MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+put the glass the designated position.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Grasp the glasses case with left gripper** 
+2. **Abnormal** 
+3. **Grasp the glasses case with right gripper** 
+4. **Place the glasses case on the table with right gripper** 
+5. **Static** 
+6. **Place the glasses case on the table with left gripper** 
+7. **End** 
+8. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:35
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_left_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 36, "total_frames": 12480, "total_tasks": 1, "total_videos": 144, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:35"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_left_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_right_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [16], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [18], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_move_the_position_of_the_glass_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_move_the_position_of_the_glass/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/eef_direction_annotation.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/scene_annotations.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/subtask_annotations.jsonl

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

R1_Lite_move_the_position_of_the_glass/annotations/subtasks.jsonl

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

R1_Lite_move_the_position_of_the_glass/data/chunk-000/episode_000000.parquet

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