Copy R1_Lite_take_and_put_away_garden_stuff_a into RoboCOIN_useable

R1_Lite_take_and_put_away_garden_stuff_a/.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_take_and_put_away_garden_stuff_a/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_take_and_put_away_garden_stuff_a
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+- `pull`
+- `push`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 148 |
+| **Total Frames** | 355644 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 444 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 15.9GB |
+
+
+## 👥 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 garden stuff in fridge drawer then take out to table.
+
+### Sub-Tasks
+This dataset includes 34 distinct subtasks:
+
+1. **Grasp the apple and place it on the table with right gripper** 
+2. **Place the green bell pepper in the lower drawer with right gripper** 
+3. **Put green pepper in the refrigerator drawer** 
+4. **Place the orange in the lower drawer with right gripper** 
+5. **Place the potato in the lower drawer with left gripper** 
+6. **Take out the potato and place it on the table** 
+7. **Open the refrigerator door with left gripper** 
+8. **Place the potato in the lower drawer with right gripper** 
+9. **Take out the apple and place it on the tray** 
+10. **Open the refrigerator door** 
+11. **End** 
+12. **Close the refrigerator door** 
+13. **Close the lower drawer with the left gripper** 
+14. **Grasp the potato and place it on the table with left gripper** 
+15. **Open the lower refrigerator drawer** 
+16. **Close the middle refrigerator door with the right gripper** 
+17. **Place the apple in the lower drawer with right gripper** 
+18. **Put orange in the refrigerator drawer** 
+19. **Abnormal** 
+20. **Put pumpkin in the refrigerator drawer** 
+21. **Grasp the potato and place it on the table with right gripper** 
+22. **Close the lower refrigerator drawer** 
+23. **Place the green bell pepper in the lower drawer with left gripper** 
+24. **Put apple in the refrigerator drawer** 
+25. **Take out the pumpkin and place it on the table** 
+26. **Close the lower drawer with the right gripper** 
+27. **Grasp the orange and place it on the table with right gripper** 
+28. **Put potato in the refrigerator drawer** 
+29. **Take out the green pepper and place it on the table** 
+30. **Take out the orange and place it on the tray** 
+31. **Grasp the green bell pepper and place it on the table with right gripper** 
+32. **Take out the apple and place it on the table** 
+33. **Open the lower drawer with the right gripper** 
+34. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 3 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:147
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 148, "total_frames": 355644, "total_tasks": 1, "total_videos": 444, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:147"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_take_and_put_away_garden_stuff_a/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_take_and_put_away_garden_stuff_a/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_take_and_put_away_garden_stuff_a/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_take_and_put_away_garden_stuff_a/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_take_and_put_away_garden_stuff_a/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_take_and_put_away_garden_stuff_a/annotations/scene_annotations.jsonl

@@ -0,0 +1,153 @@
+{"scene_index": 0, "scene": "The table is located at the back right. The garden stuff is also at the back right. The fridge drawers are positioned at the back and center respectively."}
+{"scene_index": 1, "scene": "The table is located at the back right side, while the fridge is positioned in the center."}
+{"scene_index": 2, "scene": "The two fridge drawers are positioned at the back and right sides respectively, while the garden items are located on the right side."}
+{"scene_index": 3, "scene": "The table is positioned on the right side, garden items are located at the back right, the fridge drawer is placed at the back, and the main fridge is centered."}
+{"scene_index": 4, "scene": "The fridge drawer is located at the back, while the table is positioned on the right."}
+{"scene_index": 5, "scene": "The table is positioned at the back right, with another table also located there. The garden stuff is also in the back right area. Meanwhile, the fridge drawer is placed at the back but has no other objects associated with it."}
+{"scene_index": 6, "scene": "The fridge is located at the back right, while the fridge drawer is positioned to the right of it."}
+{"scene_index": 7, "scene": "The table is positioned at both back right and right, garden stuff is at back right, and the fridge drawer is at back."}
+{"scene_index": 8, "scene": "The table is located at the back right. The fridge drawer is located at the back."}
+{"scene_index": 9, "scene": "The table is located at the back right, while the fridge drawer is positioned at the back left."}
+{"scene_index": 10, "scene": "The table is at the back right. The fridge drawer is at the back. The table is at the back right. The fridge drawer is at the center."}
+{"scene_index": 11, "scene": "The table is located at the back right, while the fridge drawer is positioned at the back left."}
+{"scene_index": 12, "scene": "The fridge is on the right, the fridge is also in the back right, and the fridge drawer is in the back left."}
+{"scene_index": 13, "scene": "I need to know the objects you d like me to describe. Please provide the list or details of the objects so I can proceed with the task."}
+{"scene_index": 14, "scene": "The table is located at the back right, with another table also positioned at the back right. The fridge drawer is situated at the back left, while the garden stuff is placed at the back right."}
+{"scene_index": 15, "scene": "The table is located at the back right, while the fridge drawer is positioned at the back."}
+{"scene_index": 16, "scene": "The two identical  fridge drawer  objects are both positioned on the right side of the refrigerator; one is slightly further back while the other is in front."}
+{"scene_index": 17, "scene": "The table is located at the back right, the fridge drawer is positioned at the back of the fridge, and the fridge itself is centered."}
+{"scene_index": 18, "scene": "The table is located at the back right, while there are two fridge drawers positioned at the back and one in the center."}
+{"scene_index": 19, "scene": "The table is located at the back right, the fridge drawer is at the back, and the fridge is centrally positioned."}
+{"scene_index": 20, "scene": "The table is at the back right, there s another table also at the back right, the fridge drawer is at the back, and the fridge is in the center."}
+{"scene_index": 21, "scene": "The fridge drawer is located at the back-right, the table is situated at the back-left, another table is placed at the left, and the drawer is positioned at the back."}
+{"scene_index": 22, "scene": "The table is positioned at the back right, while the two fridge drawers are located on the left and back left."}
+{"scene_index": 23, "scene": "The table is on the right side, the fridge is in the center, and the garden stuff is located at the front-left area."}
+{"scene_index": 24, "scene": "The table is located at the back right position, another table is also situated at the back right, and the fridge drawer is positioned at the back."}
+{"scene_index": 25, "scene": "The table is located at the back right position, while the two fridge drawers are situated at the back and left positions respectively."}
+{"scene_index": 26, "scene": "The table is positioned on the right, while there are two fridge drawers located at the back and center."}
+{"scene_index": 27, "scene": "The table is located on the right side. The fridge drawer is positioned at the back. The garden items are situated in the back right area."}
+{"scene_index": 28, "scene": "The fridge drawer is located at the back right, while the table is positioned at the back left."}
+{"scene_index": 29, "scene": "The table is positioned on the right, the fridge drawer is located at the back, and stuff is situated in the back right area."}
+{"scene_index": 30, "scene": "The fridge drawers are located at the center and back positions, while the table is positioned at the back right."}
+{"scene_index": 31, "scene": "The table is positioned to the right, the fridge is located at the back, and the drawer is placed in the back-left corner."}
+{"scene_index": 32, "scene": "The fridge drawer is located at the back right, while another fridge drawer is positioned to the right. Additionally, there s a table situated on the right side."}
+{"scene_index": 33, "scene": "The items listed are: Table back right, Table back right, Fridge Drawer center, Garden Stuff back right, Fridge back."}
+{"scene_index": 34, "scene": "The table is positioned at back right. The fridge drawer is positioned at back left. The fridge is positioned at left."}
+{"scene_index": 35, "scene": "The two tables are positioned at the back right, while the fridge drawers are located at the back left."}
+{"scene_index": 36, "scene": "The fridge drawer is located at the back, while both instances of the table are positioned at the back right."}
+{"scene_index": 37, "scene": "The table is located on the right side. The table is positioned at the back right. Garden stuff is situated in the back right area. The fridge drawer is found at the back location."}
+{"scene_index": 38, "scene": "The two fridge drawers are located at the back and center positions, while the table is positioned at the back right."}
+{"scene_index": 39, "scene": "The table is positioned at the back right, the fridge drawer is located at the back, and the garden stuff is placed at the back right."}
+{"scene_index": 40, "scene": "The table is centered, while the garden items are positioned at the back right."}
+{"scene_index": 41, "scene": "The fridge drawer is located at the back, while the table is positioned to the right side."}
+{"scene_index": 42, "scene": "The fridge drawer is located at the back right, while the table is positioned on the right side."}
+{"scene_index": 43, "scene": "The table is on the right, the fridge is centered, and the fridge drawer is at the back."}
+{"scene_index": 44, "scene": "The fridge drawer is located at the back right, while the table is positioned in front."}
+{"scene_index": 45, "scene": "The two fridge drawers are on the right and back right, the two tables are on the back right, the drawer is on the back left, and the garden stuff is on the front left."}
+{"scene_index": 46, "scene": "The fridge drawer is at the back, with the table positioned at both the back left and the left sides."}
+{"scene_index": 47, "scene": "The table is located at the back right, while the fridge drawer is positioned further back than the table."}
+{"scene_index": 48, "scene": "The fridge drawer is at the back right and right positions, while the table is at the back left."}
+{"scene_index": 49, "scene": "The table is located at the back right of the scene. The fridge drawer is positioned at the back and another identical fridge drawer is centered in the space."}
+{"scene_index": 50, "scene": "The two fridge drawers are positioned at the back of the unit, one specifically located in the back right area and another simply noted as being at the back. The table is situated on the left side, with one instance described as being at the back left and another merely mentioned as being on the left."}
+{"scene_index": 51, "scene": "The objects are positioned as follows: the fridge drawer is at the back, the table is on the right, and the garden stuff is in the front-left."}
+{"scene_index": 52, "scene": "The table is located at the back right, while the fridge is positioned centrally."}
+{"scene_index": 53, "scene": "The table is on the right, and the fridge drawer is also on the right."}
+{"scene_index": 54, "scene": "The table is on back right, the table is on right, the fridge drawer is on back left, the fridge is on back left, and garden stuff is on back right."}
+{"scene_index": 55, "scene": "The fridge drawer is at the back, and the table is on the right side."}
+{"scene_index": 56, "scene": "The table is located at the back right, while the two fridge drawers and the main fridge are all positioned on the right side."}
+{"scene_index": 57, "scene": "The table is located at the back left, with two fridge drawers positioned behind it, one also at the back left and the other behind as well."}
+{"scene_index": 58, "scene": "The table is at the back right, with the garden stuff also at the back right. The fridge drawer is at the back."}
+{"scene_index": 59, "scene": "The table is positioned on the right side, another table is located at the back-right corner, and the garden items are also situated in the back-right area. The fridge drawer is placed towards the back."}
+{"scene_index": 60, "scene": "The fridge drawer is at the back, the table is at the back right, and another fridge drawer is at the back left."}
+{"scene_index": 61, "scene": "The table is on the right side, there are two fridge drawers located at the back and back left positions, and garden items are placed in the back right area."}
+{"scene_index": 62, "scene": "The table is positioned at the back right, with the other table also at back right, while the fridge is in the center and its drawer is located at the back."}
+{"scene_index": 63, "scene": "The table is located at the back right, the first fridge drawer is in the center, and the second fridge drawer is at the back."}
+{"scene_index": 64, "scene": "The fridge drawer is located at the back, while both table units are positioned in the back right area."}
+{"scene_index": 65, "scene": "The table is positioned at the back right, another table is placed to the right, and the fridge drawer is located at the back."}
+{"scene_index": 66, "scene": "The table is located at the back right, another table is also placed at the back right, and the fridge drawer is situated at the back."}
+{"scene_index": 67, "scene": "The table is in the back right position and the fridge drawer is in the back position."}
+{"scene_index": 68, "scene": "The table is located at the back right, another table is on the right side, and the fridge drawer is positioned at the back."}
+{"scene_index": 69, "scene": "The table is back right. The fridge drawer is back. The garden stuff is back right. The table (duplicate) is back right. The fridge drawer is back left."}
+{"scene_index": 70, "scene": "The table is at the back right, the garden stuff is also at the back right, the fridge is at the back left and the other fridge is on the left side."}
+{"scene_index": 71, "scene": "The fridge drawer is located at the back, and the table is positioned to the right."}
+{"scene_index": 72, "scene": "The fridge drawer is located at the back position of the fridge."}
+{"scene_index": 73, "scene": "The two identical  fridge drawer  objects are positioned at the back (one in the back left and one centered), while the  table  is located at the back right."}
+{"scene_index": 74, "scene": "The right-positioned fridge drawer is adjacent to the back-right table, while the back-positioned fridge drawer is behind the same back-right table."}
+{"scene_index": 75, "scene": "The table is positioned on the right, while the fridge drawer is located at the back. Both items of garden equipment are placed in the back right corner."}
+{"scene_index": 76, "scene": "The two fridge drawers are positioned on the right side, one is at the front and the other at the back. The table is located at the back left."}
+{"scene_index": 77, "scene": "The fridge drawer is located at the back right position, while the table is positioned on the left side."}
+{"scene_index": 78, "scene": "The table is located at the back right position, while the two fridge drawers are situated at the back and right positions respectively."}
+{"scene_index": 79, "scene": "The table is located at the back right, the fridge drawer is positioned at the back, and the fridge itself is in the center."}
+{"scene_index": 80, "scene": "The table is located at the back right, another table is placed on the right side, and the fridge drawer is situated at the back."}
+{"scene_index": 81, "scene": "The table is positioned on the right side, while the garden stuff is located at the back right and the fridge drawers are placed at the back."}
+{"scene_index": 82, "scene": "The fridge drawer is located at the back, while the table is positioned on the right side."}
+{"scene_index": 83, "scene": "The table is at the back right, with garden stuff also at the back right. The fridge drawer is located at the back."}
+{"scene_index": 84, "scene": "The table is positioned on the right, with the fridge drawers located on the left and back left, while the garden items are placed at the back right."}
+{"scene_index": 85, "scene": "The fridge drawer is at the back, the table is on the right, and the garden stuff is in the back right corner."}
+{"scene_index": 86, "scene": "The two fridge drawers are positioned at the back and center, while the table is located at the back right."}
+{"scene_index": 87, "scene": "The table is located at the back right, while both the fridge drawer and the fridge itself are positioned at the back left."}
+{"scene_index": 88, "scene": "The table is at back right, the fridge drawer is at back, and the garden stuff is at back right."}
+{"scene_index": 89, "scene": "The table is located at the back right, while the fridge drawer is positioned behind it, but there s no additional description of their relationship beyond their positions."}
+{"scene_index": 90, "scene": "The table is located at the back right, another table is positioned to the right, and the fridge drawer is situated at the back."}
+{"scene_index": 91, "scene": "The table is positioned at the back right. The garden stuff is also at the back right. There are two fridge drawers; one is at the back and the other is in the center."}
+{"scene_index": 92, "scene": "The two fridge drawers are both located at the back of the fridge, with one specifically positioned on the back left side. The table is situated on the left side."}
+{"scene_index": 93, "scene": "The fridge drawer is located at the back, while the table is positioned on the right side."}
+{"scene_index": 94, "scene": "The two fridge drawers are positioned at the center and back of the table, while the table is located at the back right."}
+{"scene_index": 95, "scene": "The table is on the right side, with two sets of fridge drawers positioned in the center and at the back."}
+{"scene_index": 96, "scene": "The table is on the right side, and the fridge drawer is located at the back."}
+{"scene_index": 97, "scene": "The fridge drawer is located at the back and garden stuff is positioned in the back right corner."}
+{"scene_index": 98, "scene": "The fridge is at the center, with a fridge drawer positioned behind it on the back left, and a table located behind it on the back right."}
+{"scene_index": 99, "scene": "The table is on the right, garden stuff are at the back right, the two fridge drawers are in the center and back positions."}
+{"scene_index": 100, "scene": "The table is on the right side, another table is also on the right side, and the fridge drawer is at the back."}
+{"scene_index": 101, "scene": "The table is on the right, the fridge drawer is at the back, the garden stuff is in the back-right corner, and there s another table also on the right."}
+{"scene_index": 102, "scene": "The table is positioned to the right, while the fridge drawer is located at the back."}
+{"scene_index": 103, "scene": "The table is positioned at the back right, with garden stuff also located at the back right, adjacent to the table."}
+{"scene_index": 104, "scene": "The table is at the back right, the garden stuff is also at the back right. The first two items are identical and located in the back left and back positions respectively."}
+{"scene_index": 105, "scene": "The table is positioned on the right side, while the garden stuff is located at the back right."}
+{"scene_index": 106, "scene": "The table is positioned to the right, while the fridge is located at the back."}
+{"scene_index": 107, "scene": "The table is positioned at both the back right and the right side, with garden stuff also located at the back right. The fridge drawer is placed on the left and center sides."}
+{"scene_index": 108, "scene": "The table is positioned at the back right, while the fridge drawer is located at the back."}
+{"scene_index": 109, "scene": "The table is located at the back right, while the fridge drawer is positioned at the back."}
+{"scene_index": 110, "scene": "The table is positioned at the back right of the room."}
+{"scene_index": 111, "scene": "The table is located at the back right, the first fridge drawer is centered, and the second fridge drawer is positioned at the back."}
+{"scene_index": 112, "scene": "The table is positioned at the back right, the fridge drawer is located at the back, and the main fridge is in the center."}
+{"scene_index": 113, "scene": "The first table is located at the back right. The second fridge is positioned in the center. The third fridge drawer is placed at the back. The fourth table is also situated at the back right."}
+{"scene_index": 114, "scene": "The table is positioned to the right, the two fridge drawers are centered, and the main fridge is placed at the back."}
+{"scene_index": 115, "scene": "The table is on the right side, and the fridge drawer is located at the back."}
+{"scene_index": 116, "scene": "Each  fridge drawer  is positioned either to the right or at the back."}
+{"scene_index": 117, "scene": "The table is on the right, and there s a fridge drawer at the back."}
+{"scene_index": 118, "scene": "table is at back right fridge drawer is at back fridge is at back and center"}
+{"scene_index": 119, "scene": "The two tables are both located at the back right position. The first fridge drawer is centered, while the second fridge drawer is positioned at the back."}
+{"scene_index": 120, "scene": "The table is on the right side; both the fridge drawer and the main fridge are centered."}
+{"scene_index": 121, "scene": "The table is positioned at the back right, while the fridge drawer is located at the back."}
+{"scene_index": 122, "scene": "The table is at the back right, with a fridge drawer on the back and another fridge in the center; there s also a table positioned to the right."}
+{"scene_index": 123, "scene": "The table is positioned at the back right, with another table also located at the back right. The fridge drawer is placed at the back, and there s an additional fridge drawer situated in the center."}
+{"scene_index": 124, "scene": "The two identical  fridge drawer  objects are both positioned on the  right,  while the single  table  is also located to the  right. "}
+{"scene_index": 125, "scene": "The table is positioned at the back right, the fridge is at the back, and the drawer is at the back left."}
+{"scene_index": 126, "scene": "The table is at the back right, another table is on the right, the fridge drawer is at the back, and another fridge drawer is in the center."}
+{"scene_index": 127, "scene": "The table is positioned on the right side, the fridge drawer is located at the back, and the garden items are placed in the back right area."}
+{"scene_index": 128, "scene": "The fridge drawer is located in the back right section, positioned behind the main fridge which is on the right side. The garden stuff is also placed on the right side, alongside the fridge."}
+{"scene_index": 129, "scene": "The drawer is located at the back left, the table is on the right, and the fridge drawer is at the back."}
+{"scene_index": 130, "scene": "Fridge drawer is positioned at the back Garden stuff is positioned at the back right Table is positioned to the right."}
+{"scene_index": 131, "scene": "The table is located at the back left, the fridge drawer is positioned at the back, and another table is placed on the left."}
+{"scene_index": 132, "scene": "The table is located at the back right, while the fridge drawer is positioned at the back."}
+{"scene_index": 133, "scene": "The two fridge drawers are positioned at the back right and right sides of the table."}
+{"scene_index": 134, "scene": "The table is located at the back right, and there are two fridge drawers positioned at the back left and back."}
+{"scene_index": 135, "scene": "The table is positioned at the back right, there is another table also at the back right, and the fridge drawer is located at the back."}
+{"scene_index": 136, "scene": "The table is positioned to the right, while the fridge drawer is located at the back."}
+{"scene_index": 137, "scene": "The fridge drawers are at the back and center positions, a table is at the right and back-right positions, and garden stuff is also at the back-right position."}
+{"scene_index": 138, "scene": "The table is positioned to the right, while the fridge drawer is located at the back."}
+{"scene_index": 139, "scene": "The two fridge drawers are centered within the main fridge, which is also at the center."}
+{"scene_index": 140, "scene": "The table is located at the back right, while the fridge drawers are positioned at the back."}
+{"scene_index": 141, "scene": "The table is located at the back right, with another table also positioned at the back right, and the fridge drawer is situated at the back."}
+{"scene_index": 142, "scene": "The table is in the back right and right positions, garden stuff are also in the back right, the fridge drawer is in the back."}
+{"scene_index": 143, "scene": "The table is positioned at the back right, while the fridge drawer is located at the back."}
+{"scene_index": 144, "scene": "The table is positioned at the back right, with another table also located at the back right. A fridge is placed at the back and another fridge is situated at the center."}
+{"scene_index": 145, "scene": "The fridge drawer is at the back, and the table is on the right."}
+{"scene_index": 146, "scene": "The fridge drawer is located at the back, while the table is positioned to the right."}
+{"scene_index": 147, "scene": "The table is positioned at the back right, with two separate fridge drawers located in the back left and left positions, and another fridge drawer situated at the back."}
+{"scene_index": 148, "scene": "The table is located at the back right, while the garden stuff is positioned at the front left."}
+{"scene_index": 149, "scene": "The table is located at the back right, while both fridge drawers are positioned one at the back and one at the right."}
+{"scene_index": 150, "scene": "The two fridge drawers are positioned at the back and center, while the table is on the right."}
+{"scene_index": 151, "scene": "The fridge drawer is located at the back right, while another fridge drawer is placed at the back. Additionally, there are two tables—one situated on the back left and another positioned on the left side."}
+{"scene_index": 152, "scene": "The table is positioned at the back right, while there are two fridge drawers located at the back and center positions."}

R1_Lite_take_and_put_away_garden_stuff_a/annotations/subtask_annotations.jsonl

@@ -0,0 +1,34 @@
+{"subtask_index": 0, "subtask": "Grasp the apple and place it on the table with right gripper"}
+{"subtask_index": 1, "subtask": "Place the green bell pepper in the lower drawer with right gripper"}
+{"subtask_index": 2, "subtask": "Put green pepper in the refrigerator drawer"}
+{"subtask_index": 3, "subtask": "Place the orange in the lower drawer with right gripper"}
+{"subtask_index": 4, "subtask": "Place the potato in the lower drawer with left gripper"}
+{"subtask_index": 5, "subtask": "Take out the potato and place it on the table"}
+{"subtask_index": 6, "subtask": "Open the refrigerator door with left gripper"}
+{"subtask_index": 7, "subtask": "Place the potato in the lower drawer with right gripper"}
+{"subtask_index": 8, "subtask": "Take out the apple and place it on the tray"}
+{"subtask_index": 9, "subtask": "Open the refrigerator door"}
+{"subtask_index": 10, "subtask": "End"}
+{"subtask_index": 11, "subtask": "Close the refrigerator door"}
+{"subtask_index": 12, "subtask": "Close the lower drawer with the left gripper"}
+{"subtask_index": 13, "subtask": "Grasp the potato and place it on the table with left gripper"}
+{"subtask_index": 14, "subtask": "Open the lower refrigerator drawer"}
+{"subtask_index": 15, "subtask": "Close the middle refrigerator door with the right gripper"}
+{"subtask_index": 16, "subtask": "Place the apple in the lower drawer with right gripper"}
+{"subtask_index": 17, "subtask": "Put orange in the refrigerator drawer"}
+{"subtask_index": 18, "subtask": "Abnormal"}
+{"subtask_index": 19, "subtask": "Put pumpkin in the refrigerator drawer"}
+{"subtask_index": 20, "subtask": "Grasp the potato and place it on the table with right gripper"}
+{"subtask_index": 21, "subtask": "Close the lower refrigerator drawer"}
+{"subtask_index": 22, "subtask": "Place the green bell pepper in the lower drawer with left gripper"}
+{"subtask_index": 23, "subtask": "Put apple in the refrigerator drawer"}
+{"subtask_index": 24, "subtask": "Take out the pumpkin and place it on the table"}
+{"subtask_index": 25, "subtask": "Close the lower drawer with the right gripper"}
+{"subtask_index": 26, "subtask": "Grasp the orange and place it on the table with right gripper"}
+{"subtask_index": 27, "subtask": "Put potato in the refrigerator drawer"}
+{"subtask_index": 28, "subtask": "Take out the green pepper and place it on the table"}
+{"subtask_index": 29, "subtask": "Take out the orange and place it on the tray"}
+{"subtask_index": 30, "subtask": "Grasp the green bell pepper and place it on the table with right gripper"}
+{"subtask_index": 31, "subtask": "Take out the apple and place it on the table"}
+{"subtask_index": 32, "subtask": "Open the lower drawer with the right gripper"}
+{"subtask_index": 33, "subtask": "null"}

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R1_Lite_take_and_put_away_garden_stuff_a/data/chunk-000/episode_000005.parquet

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