Copy G1edu-u3_plate_storage_rabbit_doll into RoboCOIN_useable
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- G1edu-u3_plate_storage_rabbit_doll/.gitattributes +59 -0
- G1edu-u3_plate_storage_rabbit_doll/README.md +298 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/eef_acc_mag_annotation.jsonl +3 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/eef_direction_annotation.jsonl +7 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/eef_velocity_annotation.jsonl +3 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/gripper_activity_annotation.jsonl +4 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/gripper_mode_annotation.jsonl +3 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/scene_annotations.jsonl +266 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/subtask_annotations.jsonl +6 -0
- G1edu-u3_plate_storage_rabbit_doll/annotations/subtasks.jsonl +6 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000000.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000001.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000002.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000003.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000004.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000005.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000006.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000007.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000008.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000009.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000010.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000011.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000012.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000013.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000014.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000015.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000016.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000017.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000018.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000019.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000020.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000021.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000022.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000023.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000024.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000025.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000026.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000027.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000028.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000029.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000030.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000031.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000032.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000033.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000034.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000035.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000036.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000037.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000038.parquet +3 -0
- G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000039.parquet +3 -0
G1edu-u3_plate_storage_rabbit_doll/.gitattributes
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G1edu-u3_plate_storage_rabbit_doll/README.md
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| 1 |
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---
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| 2 |
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task_categories:
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| 3 |
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- robotics
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| 4 |
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| 5 |
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language:
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- en
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- zh
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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.'
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| 11 |
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extra_gated_fields:
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Company/Organization:
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| 17 |
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type: 'text'
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| 18 |
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description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
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| 19 |
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Country:
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type: 'country'
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description: 'e.g., "Germany", "China", "United States"'
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| 25 |
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tags:
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| 27 |
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- RoboCOIN
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| 28 |
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- LeRobot
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| 29 |
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frame_range: 10K-100K
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| 31 |
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| 32 |
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license: apache-2.0
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| 33 |
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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| 38 |
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| 39 |
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# G1edu-u3_plate_storage_rabbit_doll
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| 40 |
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| 41 |
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## 📋 Overview
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| 42 |
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| 43 |
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This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
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| 44 |
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| 45 |
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**Robot Type:** `unitree_g1`
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| 46 |
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| **Codebase Version:** `v2.1`
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| 47 |
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**End-Effector Type:** `three_finger_hand`
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| 48 |
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## 🏠 Scene Types
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| 50 |
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This dataset covers the following scene types:
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| 52 |
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- `home`
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| 53 |
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| 54 |
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| 55 |
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## 🤖 Atomic Actions
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| 56 |
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| 57 |
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This dataset includes the following atomic actions:
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| 58 |
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- `grasp`
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| 59 |
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- `pick`
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| 60 |
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- `place`
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| 61 |
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| 62 |
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| 63 |
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## 📊 Dataset Statistics
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| 64 |
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| 65 |
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| Metric | Value |
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| 66 |
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|--------|-------|
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| 67 |
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| **Total Episodes** | 227 |
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| 68 |
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| **Total Frames** | 76754 |
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| 69 |
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| **Total Tasks** | 1 |
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| 70 |
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| **Total Videos** | 227 |
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| 71 |
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| **Total Chunks** | 1 |
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| 72 |
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| **Chunk Size** | 1000 |
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| 73 |
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| **FPS** | 30 |
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| 74 |
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| **Dataset Size** | 378.4MB |
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| 75 |
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| 76 |
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| 77 |
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## 👥 Authors
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| 78 |
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| 79 |
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### Contributors
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| 80 |
+
This dataset is contributed by:
|
| 81 |
+
- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
|
| 82 |
+
|
| 83 |
+
|
| 84 |
+
## 🔗 Links
|
| 85 |
+
|
| 86 |
+
- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 87 |
+
- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
|
| 88 |
+
- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
|
| 89 |
+
- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 90 |
+
- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
|
| 91 |
+
- **📜 License:** apache-2.0
|
| 92 |
+
|
| 93 |
+
## 🏷️ Dataset Tags
|
| 94 |
+
|
| 95 |
+
- `RoboCOIN`
|
| 96 |
+
- `LeRobot`
|
| 97 |
+
|
| 98 |
+
|
| 99 |
+
## 🎯 Task Descriptions
|
| 100 |
+
|
| 101 |
+
### Primary Tasks
|
| 102 |
+
pick up the rabbit doll from the table and place it on the plate.
|
| 103 |
+
|
| 104 |
+
### Sub-Tasks
|
| 105 |
+
This dataset includes 6 distinct subtasks:
|
| 106 |
+
|
| 107 |
+
1. **Place the rabbit doll into the plate with the left gripper**
|
| 108 |
+
2. **Grasp the rabbit doll with the left gripper**
|
| 109 |
+
3. **End**
|
| 110 |
+
4. **Static**
|
| 111 |
+
5. **Abnormal**
|
| 112 |
+
6. **null**
|
| 113 |
+
|
| 114 |
+
|
| 115 |
+
## 🎥 Camera Views
|
| 116 |
+
|
| 117 |
+
This dataset includes 1 camera views.
|
| 118 |
+
|
| 119 |
+
## 🏷️ Available Annotations
|
| 120 |
+
|
| 121 |
+
This dataset includes rich annotations to support diverse learning approaches:
|
| 122 |
+
|
| 123 |
+
### Subtask Annotations
|
| 124 |
+
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
|
| 125 |
+
### Scene Annotations
|
| 126 |
+
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
|
| 127 |
+
### End-Effector Annotations
|
| 128 |
+
- **Direction**: Movement direction classifications for robot end-effectors
|
| 129 |
+
- **Velocity**: Velocity magnitude categorizations during manipulation
|
| 130 |
+
- **Acceleration**: Acceleration magnitude classifications for motion analysis
|
| 131 |
+
|
| 132 |
+
|
| 133 |
+
### Gripper Annotations
|
| 134 |
+
- **Gripper Mode**: Open/close state annotations for gripper control
|
| 135 |
+
- **Gripper Activity**: Activity state classifications (active/inactive)
|
| 136 |
+
|
| 137 |
+
|
| 138 |
+
### Additional Features
|
| 139 |
+
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
|
| 140 |
+
- Available for both state and action
|
| 141 |
+
- **Gripper Opening Scale**: Continuous gripper opening measurements
|
| 142 |
+
- Available for both state and action
|
| 143 |
+
|
| 144 |
+
|
| 145 |
+
## 📂 Data Splits
|
| 146 |
+
|
| 147 |
+
The dataset is organized into the following splits:
|
| 148 |
+
|
| 149 |
+
- **Training**: Episodes 0:226
|
| 150 |
+
|
| 151 |
+
|
| 152 |
+
## 📁 Dataset Structure
|
| 153 |
+
|
| 154 |
+
This dataset follows the LeRobot format and contains the following components:
|
| 155 |
+
|
| 156 |
+
### Data Files
|
| 157 |
+
- **Videos**: Compressed video files containing RGB camera observations
|
| 158 |
+
- **State Data**: Robot joint positions, velocities, and other state information
|
| 159 |
+
- **Action Data**: Robot action commands and trajectories
|
| 160 |
+
- **Metadata**: Episode metadata, timestamps, and annotations
|
| 161 |
+
|
| 162 |
+
### File Organization
|
| 163 |
+
- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| 164 |
+
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
|
| 165 |
+
- **Chunking**: Data is organized into 1 chunk(s)
|
| 166 |
+
of size 1000
|
| 167 |
+
|
| 168 |
+
|
| 169 |
+
### Features Schema
|
| 170 |
+
|
| 171 |
+
The dataset includes the following features:
|
| 172 |
+
|
| 173 |
+
#### Visual Observations
|
| 174 |
+
- **observation.images.cam_high_rgb**: video
|
| 175 |
+
- FPS: 30
|
| 176 |
+
- Codec: av1
|
| 177 |
+
|
| 178 |
+
#### State and Action- **observation.state**: float32- **action**: float32
|
| 179 |
+
|
| 180 |
+
#### Temporal Information
|
| 181 |
+
- **timestamp**: float32
|
| 182 |
+
- **frame_index**: int64
|
| 183 |
+
- **episode_index**: int64
|
| 184 |
+
- **index**: int64
|
| 185 |
+
- **task_index**: int64
|
| 186 |
+
|
| 187 |
+
|
| 188 |
+
#### Annotations
|
| 189 |
+
- **subtask_annotation**: int32
|
| 190 |
+
- **scene_annotation**: int32
|
| 191 |
+
|
| 192 |
+
|
| 193 |
+
#### Motion Features
|
| 194 |
+
- **eef_sim_pose_state**: float32
|
| 195 |
+
- 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
|
| 196 |
+
- **eef_sim_pose_action**: float32
|
| 197 |
+
- 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
|
| 198 |
+
- **eef_direction_state**: int32
|
| 199 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 200 |
+
- **eef_direction_action**: int32
|
| 201 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 202 |
+
- **eef_velocity_state**: int32
|
| 203 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 204 |
+
- **eef_velocity_action**: int32
|
| 205 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 206 |
+
- **eef_acc_mag_state**: int32
|
| 207 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 208 |
+
- **eef_acc_mag_action**: int32
|
| 209 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 210 |
+
|
| 211 |
+
|
| 212 |
+
#### Gripper Features
|
| 213 |
+
|
| 214 |
+
|
| 215 |
+
### Meta Information
|
| 216 |
+
|
| 217 |
+
The complete dataset metadata is available in [meta/info.json](meta/info.json):
|
| 218 |
+
|
| 219 |
+
```json
|
| 220 |
+
{"codebase_version": "v2.1", "robot_type": "unitree_g1", "total_episodes": 227, "total_frames": 76754, "total_tasks": 1, "total_videos": 227, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:226"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [28], "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_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad"]}, "action": {"dtype": "float32", "shape": [28], "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_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad"]}, "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]}}}
|
| 221 |
+
```
|
| 222 |
+
|
| 223 |
+
### Directory Structure
|
| 224 |
+
|
| 225 |
+
The dataset is organized as follows (showing leaf directories with first 5 files only):
|
| 226 |
+
|
| 227 |
+
```
|
| 228 |
+
G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/
|
| 229 |
+
├── annotations/
|
| 230 |
+
│ ├── eef_acc_mag_annotation.jsonl
|
| 231 |
+
│ ├── eef_direction_annotation.jsonl
|
| 232 |
+
│ ├── eef_velocity_annotation.jsonl
|
| 233 |
+
│ ├── gripper_activity_annotation.jsonl
|
| 234 |
+
│ ├── gripper_mode_annotation.jsonl
|
| 235 |
+
│ └── (...)
|
| 236 |
+
├── data/
|
| 237 |
+
│ └── chunk-000/
|
| 238 |
+
│ ├── episode_000000.parquet
|
| 239 |
+
│ ├── episode_000001.parquet
|
| 240 |
+
│ ├── episode_000002.parquet
|
| 241 |
+
│ ├── episode_000003.parquet
|
| 242 |
+
│ ├── episode_000004.parquet
|
| 243 |
+
│ └── (...)
|
| 244 |
+
├── meta/
|
| 245 |
+
│ ├── episodes.jsonl
|
| 246 |
+
│ ├── episodes_stats.jsonl
|
| 247 |
+
│ ├── info.json
|
| 248 |
+
│ └── tasks.jsonl
|
| 249 |
+
└── videos/
|
| 250 |
+
└── chunk-000/
|
| 251 |
+
└── observation.images.cam_high_rgb/
|
| 252 |
+
├── episode_000000.mp4
|
| 253 |
+
├── episode_000001.mp4
|
| 254 |
+
├── episode_000002.mp4
|
| 255 |
+
├── episode_000003.mp4
|
| 256 |
+
├── episode_000004.mp4
|
| 257 |
+
└── (...)
|
| 258 |
+
```
|
| 259 |
+
|
| 260 |
+
|
| 261 |
+
## 📞 Contact and Support
|
| 262 |
+
|
| 263 |
+
For questions, issues, or feedback regarding this dataset, please contact:
|
| 264 |
+
- **Email:** None
|
| 265 |
+
For questions, issues, or feedback regarding this dataset, please contact us.
|
| 266 |
+
### Support
|
| 267 |
+
For technical support, please open an issue on our GitHub repository.
|
| 268 |
+
|
| 269 |
+
## 📄 License
|
| 270 |
+
|
| 271 |
+
This dataset is released under the **apache-2.0** license.
|
| 272 |
+
|
| 273 |
+
Please refer to the LICENSE file for full license terms and conditions.
|
| 274 |
+
|
| 275 |
+
|
| 276 |
+
## 📚 Citation
|
| 277 |
+
|
| 278 |
+
If you use this dataset in your research, please cite:
|
| 279 |
+
|
| 280 |
+
```bibtex
|
| 281 |
+
@article{robocoin,
|
| 282 |
+
title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
|
| 283 |
+
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},
|
| 284 |
+
journal={arXiv preprint arXiv:2511.17441},
|
| 285 |
+
url = {https://arxiv.org/abs/2511.17441},
|
| 286 |
+
year={2025}
|
| 287 |
+
}
|
| 288 |
+
```
|
| 289 |
+
|
| 290 |
+
### Additional References
|
| 291 |
+
|
| 292 |
+
If you use this dataset, please also consider citing:
|
| 293 |
+
- LeRobot Framework: https://github.com/huggingface/lerobot
|
| 294 |
+
|
| 295 |
+
## 📌 Version Information
|
| 296 |
+
|
| 297 |
+
## Version History
|
| 298 |
+
- v1.0.0 (2025-11): Initial release
|
G1edu-u3_plate_storage_rabbit_doll/annotations/eef_acc_mag_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
|
| 2 |
+
{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
|
| 3 |
+
{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/eef_direction_annotation.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_direction_index": 0, "eef_direction": "forward"}
|
| 2 |
+
{"eef_direction_index": 1, "eef_direction": "backward"}
|
| 3 |
+
{"eef_direction_index": 2, "eef_direction": "left"}
|
| 4 |
+
{"eef_direction_index": 3, "eef_direction": "right"}
|
| 5 |
+
{"eef_direction_index": 4, "eef_direction": "up"}
|
| 6 |
+
{"eef_direction_index": 5, "eef_direction": "down"}
|
| 7 |
+
{"eef_direction_index": 6, "eef_direction": "still"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/eef_velocity_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_velocity_index": 0, "eef_velocity": "still"}
|
| 2 |
+
{"eef_velocity_index": 1, "eef_velocity": "slow"}
|
| 3 |
+
{"eef_velocity_index": 2, "eef_velocity": "fast"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/gripper_activity_annotation.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"gripper_activity_index": 0, "gripper_activity": "openning"}
|
| 2 |
+
{"gripper_activity_index": 1, "gripper_activity": "closing"}
|
| 3 |
+
{"gripper_activity_index": 2, "gripper_activity": "holding"}
|
| 4 |
+
{"gripper_activity_index": 3, "gripper_activity": "unknown"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/gripper_mode_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"gripper_mode_index": 0, "gripper_mode": "open"}
|
| 2 |
+
{"gripper_mode_index": 1, "gripper_mode": "closed"}
|
| 3 |
+
{"gripper_mode_index": 2, "gripper_mode": "unknown"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/scene_annotations.jsonl
ADDED
|
@@ -0,0 +1,266 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
| 1 |
+
{"scene_index": 0, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 2 |
+
{"scene_index": 1, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 3 |
+
{"scene_index": 2, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 4 |
+
{"scene_index": 3, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 5 |
+
{"scene_index": 4, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 6 |
+
{"scene_index": 5, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 7 |
+
{"scene_index": 6, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 8 |
+
{"scene_index": 7, "scene": "The plate is on the right, there s a rabbit doll on the left, and another rabbit doll is placed at the back left."}
|
| 9 |
+
{"scene_index": 8, "scene": "The rabbit doll is on the left, the plate is in the center."}
|
| 10 |
+
{"scene_index": 9, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 11 |
+
{"scene_index": 10, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 12 |
+
{"scene_index": 11, "scene": "The plate is on the right."}
|
| 13 |
+
{"scene_index": 12, "scene": "The plate is on the right side, while the rabbit doll is located at the back-left position relative to it."}
|
| 14 |
+
{"scene_index": 13, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 15 |
+
{"scene_index": 14, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 16 |
+
{"scene_index": 15, "scene": "The plate is on the right, the rabbit doll is on the left, and the rabbit is at the back left."}
|
| 17 |
+
{"scene_index": 16, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 18 |
+
{"scene_index": 17, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 19 |
+
{"scene_index": 18, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 20 |
+
{"scene_index": 19, "scene": "The plate is on the right, and there are two rabbit dolls; one is on the left and the other is at the back-left."}
|
| 21 |
+
{"scene_index": 20, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 22 |
+
{"scene_index": 21, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 23 |
+
{"scene_index": 22, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 24 |
+
{"scene_index": 23, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 25 |
+
{"scene_index": 24, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 26 |
+
{"scene_index": 25, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 27 |
+
{"scene_index": 26, "scene": "A rabbit doll is on the left, a plate is in the center."}
|
| 28 |
+
{"scene_index": 27, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 29 |
+
{"scene_index": 28, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 30 |
+
{"scene_index": 29, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 31 |
+
{"scene_index": 30, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 32 |
+
{"scene_index": 31, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 33 |
+
{"scene_index": 32, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 34 |
+
{"scene_index": 33, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 35 |
+
{"scene_index": 34, "scene": "The plate is centered, and the rabbit doll is positioned to its left."}
|
| 36 |
+
{"scene_index": 35, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 37 |
+
{"scene_index": 36, "scene": "The plate is at the center, while the rabbit doll is on its left."}
|
| 38 |
+
{"scene_index": 37, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 39 |
+
{"scene_index": 38, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 40 |
+
{"scene_index": 39, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 41 |
+
{"scene_index": 40, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 42 |
+
{"scene_index": 41, "scene": "The rabbit doll is located at the front left, while the plate is positioned to its right."}
|
| 43 |
+
{"scene_index": 42, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 44 |
+
{"scene_index": 43, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 45 |
+
{"scene_index": 44, "scene": "The rabbit doll is positioned at the front left, while the plate is located on the right side."}
|
| 46 |
+
{"scene_index": 45, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 47 |
+
{"scene_index": 46, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 48 |
+
{"scene_index": 47, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 49 |
+
{"scene_index": 48, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 50 |
+
{"scene_index": 49, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 51 |
+
{"scene_index": 50, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 52 |
+
{"scene_index": 51, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 53 |
+
{"scene_index": 52, "scene": "The plate is centered, with the rabbit doll positioned to its left."}
|
| 54 |
+
{"scene_index": 53, "scene": "Plate is on the right, doll is at the back left, rabbit doll is on the left."}
|
| 55 |
+
{"scene_index": 54, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 56 |
+
{"scene_index": 55, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 57 |
+
{"scene_index": 56, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 58 |
+
{"scene_index": 57, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 59 |
+
{"scene_index": 58, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 60 |
+
{"scene_index": 59, "scene": "The plate is at the center, with a rabbit doll on its left and another rabbit doll positioned towards the back and to the right."}
|
| 61 |
+
{"scene_index": 60, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 62 |
+
{"scene_index": 61, "scene": "The plate is on the right side, while there are two rabbit dolls located respectively to the left and back-left sides."}
|
| 63 |
+
{"scene_index": 62, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 64 |
+
{"scene_index": 63, "scene": "The plate is located at the front right, while both rabbit dolls are positioned at the back left."}
|
| 65 |
+
{"scene_index": 64, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 66 |
+
{"scene_index": 65, "scene": "The rabbit doll is on the left, the plate is in the center."}
|
| 67 |
+
{"scene_index": 66, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 68 |
+
{"scene_index": 67, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 69 |
+
{"scene_index": 68, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 70 |
+
{"scene_index": 69, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 71 |
+
{"scene_index": 70, "scene": "The plate is at the center, a rabbit doll is on the left, and another rabbit doll is positioned at the back right."}
|
| 72 |
+
{"scene_index": 71, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 73 |
+
{"scene_index": 72, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 74 |
+
{"scene_index": 73, "scene": "The plate is on the right side, while the rabbit doll is located at the back-left position relative to it."}
|
| 75 |
+
{"scene_index": 74, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 76 |
+
{"scene_index": 75, "scene": "The rabbit doll is located at the front-left position, while the plate is positioned to the right."}
|
| 77 |
+
{"scene_index": 76, "scene": "The plate is centered, while the rabbit doll is placed to its left."}
|
| 78 |
+
{"scene_index": 77, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 79 |
+
{"scene_index": 78, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 80 |
+
{"scene_index": 79, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 81 |
+
{"scene_index": 80, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 82 |
+
{"scene_index": 81, "scene": "The rabbit doll is on the left, and the plate is in the center."}
|
| 83 |
+
{"scene_index": 82, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 84 |
+
{"scene_index": 83, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 85 |
+
{"scene_index": 84, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 86 |
+
{"scene_index": 85, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 87 |
+
{"scene_index": 86, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 88 |
+
{"scene_index": 87, "scene": "The plate is on the right, and two rabbit dolls are positioned to the left and back left respectively."}
|
| 89 |
+
{"scene_index": 88, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 90 |
+
{"scene_index": 89, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 91 |
+
{"scene_index": 90, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 92 |
+
{"scene_index": 91, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 93 |
+
{"scene_index": 92, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 94 |
+
{"scene_index": 93, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 95 |
+
{"scene_index": 94, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 96 |
+
{"scene_index": 95, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 97 |
+
{"scene_index": 96, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 98 |
+
{"scene_index": 97, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 99 |
+
{"scene_index": 98, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 100 |
+
{"scene_index": 99, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 101 |
+
{"scene_index": 100, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 102 |
+
{"scene_index": 101, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 103 |
+
{"scene_index": 102, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 104 |
+
{"scene_index": 103, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 105 |
+
{"scene_index": 104, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 106 |
+
{"scene_index": 105, "scene": "The rabbit doll is on the left, the plate is in the center."}
|
| 107 |
+
{"scene_index": 106, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 108 |
+
{"scene_index": 107, "scene": "The plate is centered, while the rabbit doll is positioned to its left."}
|
| 109 |
+
{"scene_index": 108, "scene": "The plate is on the right, while there are multiple rabbit dolls positioned on the left and back left."}
|
| 110 |
+
{"scene_index": 109, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 111 |
+
{"scene_index": 110, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 112 |
+
{"scene_index": 111, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 113 |
+
{"scene_index": 112, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 114 |
+
{"scene_index": 113, "scene": "A plate is centered, while a rabbit doll is positioned to its left."}
|
| 115 |
+
{"scene_index": 114, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 116 |
+
{"scene_index": 115, "scene": "The plate is on the right side, while there are three rabbit dolls positioned to the left (one at the front left and two more towards the back left)."}
|
| 117 |
+
{"scene_index": 116, "scene": "The rabbit doll is on the left, the plate is on the right, and the rabbit is at the back left."}
|
| 118 |
+
{"scene_index": 117, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 119 |
+
{"scene_index": 118, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 120 |
+
{"scene_index": 119, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 121 |
+
{"scene_index": 120, "scene": "A plate is centered, while a rabbit doll is positioned to its left."}
|
| 122 |
+
{"scene_index": 121, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 123 |
+
{"scene_index": 122, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 124 |
+
{"scene_index": 123, "scene": "The plate is centered, with the rabbit doll positioned to its left."}
|
| 125 |
+
{"scene_index": 124, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 126 |
+
{"scene_index": 125, "scene": "A plate is positioned on the right side, while four rabbit dolls are placed in four different positions: two on the left (front and back) and two on the right (front and back)."}
|
| 127 |
+
{"scene_index": 126, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 128 |
+
{"scene_index": 127, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 129 |
+
{"scene_index": 128, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 130 |
+
{"scene_index": 129, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 131 |
+
{"scene_index": 130, "scene": "The plate is at the center, while the rabbit doll is on its left."}
|
| 132 |
+
{"scene_index": 131, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 133 |
+
{"scene_index": 132, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 134 |
+
{"scene_index": 133, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 135 |
+
{"scene_index": 134, "scene": "The plate is at the center, while the rabbit doll is on its left."}
|
| 136 |
+
{"scene_index": 135, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 137 |
+
{"scene_index": 136, "scene": "The rabbit doll is on the left, the plate is in the center."}
|
| 138 |
+
{"scene_index": 137, "scene": "A plate is centered, while a rabbit doll is positioned to its left."}
|
| 139 |
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{"scene_index": 138, "scene": "The plate is on the right side, while there are two rabbit dolls—one located at the left and another positioned at the back-left."}
|
| 140 |
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{"scene_index": 139, "scene": "A plate is centered, while a rabbit doll is positioned to its left."}
|
| 141 |
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{"scene_index": 140, "scene": "The rabbit doll is on the left, and the plate is centered between them."}
|
| 142 |
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{"scene_index": 141, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 143 |
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{"scene_index": 142, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 144 |
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{"scene_index": 143, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 145 |
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{"scene_index": 144, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 146 |
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{"scene_index": 145, "scene": "The plate is centered, while the rabbit doll is positioned to its left."}
|
| 147 |
+
{"scene_index": 146, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 148 |
+
{"scene_index": 147, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 149 |
+
{"scene_index": 148, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 150 |
+
{"scene_index": 149, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 151 |
+
{"scene_index": 150, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 152 |
+
{"scene_index": 151, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 153 |
+
{"scene_index": 152, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 154 |
+
{"scene_index": 153, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 155 |
+
{"scene_index": 154, "scene": "The plate is at the center, with two rabbit dolls positioned on the left and back right."}
|
| 156 |
+
{"scene_index": 155, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 157 |
+
{"scene_index": 156, "scene": "The plate is on the right, while two rabbit dolls are positioned to the left (one at the back left and one presumably closer to the front)."}
|
| 158 |
+
{"scene_index": 157, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 159 |
+
{"scene_index": 158, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 160 |
+
{"scene_index": 159, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 161 |
+
{"scene_index": 160, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 162 |
+
{"scene_index": 161, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 163 |
+
{"scene_index": 162, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 164 |
+
{"scene_index": 163, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 165 |
+
{"scene_index": 164, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 166 |
+
{"scene_index": 165, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 167 |
+
{"scene_index": 166, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 168 |
+
{"scene_index": 167, "scene": "The rabbit dolls are located at the front left and back left positions, while the plate is placed at the front right."}
|
| 169 |
+
{"scene_index": 168, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 170 |
+
{"scene_index": 169, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 171 |
+
{"scene_index": 170, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 172 |
+
{"scene_index": 171, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 173 |
+
{"scene_index": 172, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 174 |
+
{"scene_index": 173, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 175 |
+
{"scene_index": 174, "scene": "The plate is on the right, there s a rabbit doll on the left, and another rabbit doll is placed at the back left."}
|
| 176 |
+
{"scene_index": 175, "scene": "The rabbit doll is on the left, the plate is on the right, and another rabbit doll is behind and to the left of the first rabbit doll."}
|
| 177 |
+
{"scene_index": 176, "scene": "The plate is centered, while the rabbit doll is positioned to its left."}
|
| 178 |
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{"scene_index": 177, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 179 |
+
{"scene_index": 178, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 180 |
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{"scene_index": 179, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 181 |
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{"scene_index": 180, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 182 |
+
{"scene_index": 181, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 183 |
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{"scene_index": 182, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 184 |
+
{"scene_index": 183, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 185 |
+
{"scene_index": 184, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 186 |
+
{"scene_index": 185, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 187 |
+
{"scene_index": 186, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 188 |
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{"scene_index": 187, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 189 |
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{"scene_index": 188, "scene": "The plate is on the right, and two rabbit dolls are positioned to the left and back left respectively."}
|
| 190 |
+
{"scene_index": 189, "scene": "The plate is on the right side, while the rabbit doll is located at the back left."}
|
| 191 |
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{"scene_index": 190, "scene": "The plate is centered, while the rabbit doll is placed to its left."}
|
| 192 |
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{"scene_index": 191, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right, indicating their respective placements relative to each other."}
|
| 193 |
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{"scene_index": 192, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 194 |
+
{"scene_index": 193, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 195 |
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{"scene_index": 194, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 196 |
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{"scene_index": 195, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 197 |
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{"scene_index": 196, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 198 |
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{"scene_index": 197, "scene": "The rabbit doll is on the left, and the plate is centered between them."}
|
| 199 |
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{"scene_index": 198, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 200 |
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{"scene_index": 199, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 201 |
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{"scene_index": 200, "scene": "The rabbit doll is on the left, and the plate is in the center."}
|
| 202 |
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{"scene_index": 201, "scene": "The plate is on the right, there s a rabbit doll on the left, and another rabbit doll is placed at the back left."}
|
| 203 |
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{"scene_index": 202, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 204 |
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{"scene_index": 203, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 205 |
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{"scene_index": 204, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 206 |
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{"scene_index": 205, "scene": "The plate is on the right, there s a rabbit doll on the left, and another rabbit doll is placed at the back left."}
|
| 207 |
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{"scene_index": 206, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 208 |
+
{"scene_index": 207, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 209 |
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{"scene_index": 208, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 210 |
+
{"scene_index": 209, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 211 |
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{"scene_index": 210, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 212 |
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{"scene_index": 211, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 213 |
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{"scene_index": 212, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 214 |
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{"scene_index": 213, "scene": "The plate is on the right, and two rabbit dolls are positioned to the left and back left respectively."}
|
| 215 |
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{"scene_index": 214, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 216 |
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{"scene_index": 215, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 217 |
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{"scene_index": 216, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 218 |
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{"scene_index": 217, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 219 |
+
{"scene_index": 218, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 220 |
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{"scene_index": 219, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 221 |
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{"scene_index": 220, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 222 |
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{"scene_index": 221, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 223 |
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{"scene_index": 222, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 224 |
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{"scene_index": 223, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 225 |
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{"scene_index": 224, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 226 |
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{"scene_index": 225, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 227 |
+
{"scene_index": 226, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 228 |
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{"scene_index": 227, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 229 |
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{"scene_index": 228, "scene": "The plate is centered, while the rabbit doll is positioned to its left."}
|
| 230 |
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{"scene_index": 229, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 231 |
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{"scene_index": 230, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 232 |
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{"scene_index": 231, "scene": "The rabbit doll is on the left side, while another rabbit doll is positioned at the back left, and there is a plate located on the right."}
|
| 233 |
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{"scene_index": 232, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 234 |
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{"scene_index": 233, "scene": "A plate is centered, while a rabbit doll is positioned to its left."}
|
| 235 |
+
{"scene_index": 234, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 236 |
+
{"scene_index": 235, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 237 |
+
{"scene_index": 236, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 238 |
+
{"scene_index": 237, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 239 |
+
{"scene_index": 238, "scene": "The rabbit doll is on the left side, and the plate is on the right side."}
|
| 240 |
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{"scene_index": 239, "scene": "The plate is centered, with a rabbit doll positioned to its left and another rabbit doll placed at the back right."}
|
| 241 |
+
{"scene_index": 240, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 242 |
+
{"scene_index": 241, "scene": "The plate is centered, and the rabbit doll is positioned to its left."}
|
| 243 |
+
{"scene_index": 242, "scene": "The plate is on the right side, while the rabbit doll is located on the left side."}
|
| 244 |
+
{"scene_index": 243, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 245 |
+
{"scene_index": 244, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 246 |
+
{"scene_index": 245, "scene": "The rabbit doll is positioned to the left, while the plate is located to the right, indicating their distinct spatial arrangement in relation to each other."}
|
| 247 |
+
{"scene_index": 246, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 248 |
+
{"scene_index": 247, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 249 |
+
{"scene_index": 248, "scene": "The plate is on the right, and two rabbit dolls are positioned to the left and back left respectively."}
|
| 250 |
+
{"scene_index": 249, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 251 |
+
{"scene_index": 250, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
| 252 |
+
{"scene_index": 251, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 253 |
+
{"scene_index": 252, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 254 |
+
{"scene_index": 253, "scene": "The plate is centered, with the rabbit doll positioned to its left."}
|
| 255 |
+
{"scene_index": 254, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 256 |
+
{"scene_index": 255, "scene": "The rabbit doll is on the left, and the plate is on the right."}
|
| 257 |
+
{"scene_index": 256, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 258 |
+
{"scene_index": 257, "scene": "The rabbit doll is on the left, the plate is in the center, and the rabbit is at the back right."}
|
| 259 |
+
{"scene_index": 258, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 260 |
+
{"scene_index": 259, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 261 |
+
{"scene_index": 260, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 262 |
+
{"scene_index": 261, "scene": "The plate is on the right, and the rabbit doll is on the left."}
|
| 263 |
+
{"scene_index": 262, "scene": "The rabbit doll is positioned on the left, while the plate is located on the right."}
|
| 264 |
+
{"scene_index": 263, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 265 |
+
{"scene_index": 264, "scene": "The plate is on the right side, and the rabbit doll is on the left side."}
|
| 266 |
+
{"scene_index": 265, "scene": "The plate is on the right side, while the rabbit doll is located to the left."}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/subtask_annotations.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"subtask_index": 0, "subtask": "Place the rabbit doll into the plate with the left gripper"}
|
| 2 |
+
{"subtask_index": 1, "subtask": "Grasp the rabbit doll with the left gripper"}
|
| 3 |
+
{"subtask_index": 2, "subtask": "End"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Static"}
|
| 5 |
+
{"subtask_index": 4, "subtask": "Abnormal"}
|
| 6 |
+
{"subtask_index": 5, "subtask": "null"}
|
G1edu-u3_plate_storage_rabbit_doll/annotations/subtasks.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"subtask_index": 0, "subtask": "Place the rabbit doll into the plate with the left gripper"}
|
| 2 |
+
{"subtask_index": 1, "subtask": "End"}
|
| 3 |
+
{"subtask_index": 2, "subtask": "Grasp the rabbit doll with the left gripper"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Abnormal"}
|
| 5 |
+
{"subtask_index": 4, "subtask": "Static"}
|
| 6 |
+
{"subtask_index": 5, "subtask": "null"}
|
G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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|
G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000005.parquet
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000006.parquet
ADDED
|
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version https://git-lfs.github.com/spec/v1
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000007.parquet
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000008.parquet
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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G1edu-u3_plate_storage_rabbit_doll/data/chunk-000/episode_000009.parquet
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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