diff --git a/R1_Lite_move_the_position_of_the_spoon/.gitattributes b/R1_Lite_move_the_position_of_the_spoon/.gitattributes
new file mode 100644
index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3
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@@ -0,0 +1,59 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
diff --git a/R1_Lite_move_the_position_of_the_spoon/README.md b/R1_Lite_move_the_position_of_the_spoon/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5d922fb1ab59c156e8da9a115b0244ed01d49758
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+++ b/R1_Lite_move_the_position_of_the_spoon/README.md
@@ -0,0 +1,336 @@
+---
+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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_spoon
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `galaxea_r1_lite`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 23 |
+| **Total Frames** | 6550 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 92 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 212.3MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+put the spoon the designated position.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Grasp the spoon with right gripper** 
+2. **Grasp the spoon with left gripper** 
+3. **Place the spoon on the table with left gripper** 
+4. **Static** 
+5. **End** 
+6. **Place the spoon on the table with right gripper** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:22
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_left_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 23, "total_frames": 6550, "total_tasks": 1, "total_videos": 92, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:22"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_left_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_right_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [16], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [18], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+R1_Lite_move_the_position_of_the_spoon_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release
\ No newline at end of file
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/eef_acc_mag_annotation.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_acc_mag_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_acc_mag_annotation.jsonl
@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/eef_direction_annotation.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_direction_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_direction_annotation.jsonl
@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/eef_velocity_annotation.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_velocity_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/eef_velocity_annotation.jsonl
@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_activity_annotation.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_activity_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_activity_annotation.jsonl
@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_mode_annotation.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_mode_annotation.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/gripper_mode_annotation.jsonl
@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/scene_annotations.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/scene_annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44c04f33289c2f8919a3e8cb8b62390880bac244
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/scene_annotations.jsonl
@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The spoon is located at the back right position."}
+{"scene_index": 1, "scene": "The spoon is located at the back left position."}
+{"scene_index": 2, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 3, "scene": "The spoon is located at the back right position."}
+{"scene_index": 4, "scene": "The spoon is located at the back left position."}
+{"scene_index": 5, "scene": "The spoon is located at the back position."}
+{"scene_index": 6, "scene": "The spoon is centered in the image."}
+{"scene_index": 7, "scene": "The spoon is located at the back right position."}
+{"scene_index": 8, "scene": "The spoon is located at the center position."}
+{"scene_index": 9, "scene": "The spoon is positioned at the back."}
+{"scene_index": 10, "scene": "The spoon is located at the back right position."}
+{"scene_index": 11, "scene": "Each spoon is located at the back-right position."}
+{"scene_index": 12, "scene": "The spoon is located at the center."}
+{"scene_index": 13, "scene": "The spoon is positioned at the back."}
+{"scene_index": 14, "scene": "The spoon is located at the back position."}
+{"scene_index": 15, "scene": "The spoon is located at the back position."}
+{"scene_index": 16, "scene": "The spoon is located at the back right position."}
+{"scene_index": 17, "scene": "The spoon is located at the back position."}
+{"scene_index": 18, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 19, "scene": "The spoon is located at the back left position."}
+{"scene_index": 20, "scene": "The first spoon is located at the back left position, while the second spoon is positioned at the back."}
+{"scene_index": 21, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 22, "scene": "The spoon is located at the back position."}
+{"scene_index": 23, "scene": "Each spoon is located at the back right position."}
+{"scene_index": 24, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 25, "scene": "The spoon is located at the back left position."}
+{"scene_index": 26, "scene": "The spoon is located at the back position."}
+{"scene_index": 27, "scene": "The spoon is located at the back area, specifically in the back left section, with two additional spoons also positioned in the same back left location."}
+{"scene_index": 28, "scene": "The spoon is located at the back left position."}
+{"scene_index": 29, "scene": "Each  spoon  is located at their respective positions: one at the back right and the other at the back."}
+{"scene_index": 30, "scene": "The spoon is located at the back and the back right positions."}
+{"scene_index": 31, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 32, "scene": "The spoon is located at the back left position."}
+{"scene_index": 33, "scene": "The two spoons are placed at the back left and back right positions, respectively."}
+{"scene_index": 34, "scene": "The spoon is located at the back right position."}
+{"scene_index": 35, "scene": "The spoon is located at the back position."}
+{"scene_index": 36, "scene": "The spoon is located at the center position."}
+{"scene_index": 37, "scene": "The spoon is located at the back position."}
+{"scene_index": 38, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 39, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 40, "scene": "The spoon is located at the back position."}
+{"scene_index": 41, "scene": "The spoon is located at the center position."}
+{"scene_index": 42, "scene": "The spoon is located at the back left position."}
+{"scene_index": 43, "scene": "The spoons are located in the back left, right, back, and center positions."}
+{"scene_index": 44, "scene": "The spoon is located at the back right position."}
+{"scene_index": 45, "scene": "The spoon is located at the back left, The spoon is positioned at the back, The spoon is placed on the right side."}
+{"scene_index": 46, "scene": "The spoon is located at the back position."}
+{"scene_index": 47, "scene": "The spoon is located at the back position."}
+{"scene_index": 48, "scene": "The spoon is located at the back position."}
+{"scene_index": 49, "scene": "The spoon is located at the back right position."}
+{"scene_index": 50, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 51, "scene": "The spoon is located at the back position."}
+{"scene_index": 52, "scene": "The spoon is located at the back position."}
+{"scene_index": 53, "scene": "The two spoons are positioned at the back of the scene, with one located to the left and the other to the right."}
+{"scene_index": 54, "scene": "The spoon is located at the back left position."}
+{"scene_index": 55, "scene": "The spoon is located at the back position."}
+{"scene_index": 56, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 57, "scene": "The spoon is located at the back left position."}
+{"scene_index": 58, "scene": "The spoon is located at the back position."}
+{"scene_index": 59, "scene": "The spoon is located at the back right position."}
+{"scene_index": 60, "scene": "The spoon is located at the back position."}
+{"scene_index": 61, "scene": "Each spoon is positioned at different locations on a surface: one at the back right, another at the center, and the last one at the back left."}
+{"scene_index": 62, "scene": "The spoons are positioned at the back right and two spoons are at the back left."}
+{"scene_index": 63, "scene": "The spoon is located at the back position."}
+{"scene_index": 64, "scene": "The spoon is located at the back right position."}
+{"scene_index": 65, "scene": "The spoon is on the left side."}
+{"scene_index": 66, "scene": "The spoon is located at the back position."}
+{"scene_index": 67, "scene": "The spoons are positioned in the center, back right, and back right."}
+{"scene_index": 68, "scene": "The spoon is located at the back position."}
+{"scene_index": 69, "scene": "The spoon is located at the back of the table, and another spoon is positioned at the back right area near it."}
+{"scene_index": 70, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 71, "scene": "The spoon is located on the right side."}
+{"scene_index": 72, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 73, "scene": "The spoon is located at the back right position."}
+{"scene_index": 74, "scene": "The spoon is located at the back right position."}
+{"scene_index": 75, "scene": "The spoon is located at the back left position."}
+{"scene_index": 76, "scene": "The spoon is located at the center."}
+{"scene_index": 77, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 78, "scene": "The spoon is located at the back left position."}
+{"scene_index": 79, "scene": "The spoon is located at the back right position."}
+{"scene_index": 80, "scene": "The two spoons are positioned on either side at the back, with one located to the right and the other to the left."}
+{"scene_index": 81, "scene": "The spoon is located at the center position."}
+{"scene_index": 82, "scene": "The spoon is at the center, and another spoon is positioned towards the back."}
+{"scene_index": 83, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 84, "scene": "The spoon is located at the back left position."}
+{"scene_index": 85, "scene": "The spoon is located at the back right position."}
+{"scene_index": 86, "scene": "The spoon is located at the back position."}
+{"scene_index": 87, "scene": "The two spoons are placed on the table; one is located at the back left position, and the other is positioned in the center."}
+{"scene_index": 88, "scene": "The spoon is located at the back right position."}
+{"scene_index": 89, "scene": "The spoon is on the right side."}
+{"scene_index": 90, "scene": "The spoon is centered in the image."}
+{"scene_index": 91, "scene": "The spoon is located at the back left position."}
+{"scene_index": 92, "scene": "The spoon is located at the back right position."}
+{"scene_index": 93, "scene": "The spoon is located at the back right, another spoon is placed at the back center, and a third spoon is situated at the back left."}
+{"scene_index": 94, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 95, "scene": "The spoon is located at the back left position."}
+{"scene_index": 96, "scene": "The spoon is located at the back left position."}
+{"scene_index": 97, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 98, "scene": "The spoon is located at the back left position."}
+{"scene_index": 99, "scene": "The spoon is located to the right side."}
+{"scene_index": 100, "scene": "The spoon is located at the back position."}
+{"scene_index": 101, "scene": "The spoon is located at the back left position."}
+{"scene_index": 102, "scene": "The spoon is located at the back position."}
+{"scene_index": 103, "scene": "The spoon is located at the back left position."}
+{"scene_index": 104, "scene": "The spoon is located at the back left position."}
+{"scene_index": 105, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 106, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 107, "scene": "The spoon is positioned at the back."}
+{"scene_index": 108, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 109, "scene": "The spoon is located at the back position."}
+{"scene_index": 110, "scene": "The spoon is located at the back position."}
+{"scene_index": 111, "scene": "The spoon is located at the back position."}
+{"scene_index": 112, "scene": "The spoon is located at the back position."}
+{"scene_index": 113, "scene": "The spoon is located at the back right position."}
+{"scene_index": 114, "scene": "The spoons are positioned to the left, back right, and back right."}
+{"scene_index": 115, "scene": "I m sorry, but I don t have enough information to complete your request. Could you please provide more details about the objects?"}
+{"scene_index": 116, "scene": "The spoon is located at the back, while the other spoon is positioned at the back left."}
+{"scene_index": 117, "scene": "The spoon is located at the back position."}
+{"scene_index": 118, "scene": "The spoon is on the right side."}
+{"scene_index": 119, "scene": "The spoon is located at the back right position."}
+{"scene_index": 120, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 121, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 122, "scene": "The spoon is located at the back left position."}
+{"scene_index": 123, "scene": "The spoon is located at the center position."}
+{"scene_index": 124, "scene": "The spoon is positioned at the back."}
+{"scene_index": 125, "scene": "The spoon is located at both the back right and the center positions."}
+{"scene_index": 126, "scene": "The spoon is located at the back and to the right."}
+{"scene_index": 127, "scene": "The spoon is located at the back right position."}
+{"scene_index": 128, "scene": "The spoon is located at the back, while the other spoon is positioned towards the back left."}
+{"scene_index": 129, "scene": "The spoon is located at the back position."}
+{"scene_index": 130, "scene": "The spoon is located at the back right position."}
+{"scene_index": 131, "scene": "The spoon is at the back, and the other spoon is at the back left."}
+{"scene_index": 132, "scene": "The spoon is located at the back position."}
+{"scene_index": 133, "scene": "The spoon is located at the back, while the other spoon is positioned at the back left."}
+{"scene_index": 134, "scene": "The spoon is located at the back left position."}
+{"scene_index": 135, "scene": "The two spoons are positioned on either side at the back of the space, with one located to the right and the other to the left."}
+{"scene_index": 136, "scene": "The spoon is located at the back position."}
+{"scene_index": 137, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 138, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 139, "scene": "The two spoons are both located at the back right position."}
+{"scene_index": 140, "scene": "The spoon is located at the back left position."}
+{"scene_index": 141, "scene": "The spoon is located at the back left position."}
+{"scene_index": 142, "scene": "The spoon is located at the back position."}
+{"scene_index": 143, "scene": "The spoon is located at the back position."}
+{"scene_index": 144, "scene": "The first spoon is at the center, and the second spoon is located at the back right."}
+{"scene_index": 145, "scene": "The spoon is located at the back position."}
+{"scene_index": 146, "scene": "The spoon is located at the back right position."}
+{"scene_index": 147, "scene": "The spoon is positioned at the back."}
+{"scene_index": 148, "scene": "The spoon is located at the back left position."}
+{"scene_index": 149, "scene": "The spoon is located at the back left position."}
+{"scene_index": 150, "scene": "The spoon is centered in the image."}
+{"scene_index": 151, "scene": "The spoon is located at the back right position."}
+{"scene_index": 152, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 153, "scene": "The spoon is located at the back left position."}
+{"scene_index": 154, "scene": "The spoon is positioned at the back."}
+{"scene_index": 155, "scene": "The spoon is located at the back position."}
+{"scene_index": 156, "scene": "The spoon is located at the back position."}
+{"scene_index": 157, "scene": "The spoon is located at the back right position, while another spoon is placed at the back position."}
+{"scene_index": 158, "scene": "The spoon is located at the back left position."}
+{"scene_index": 159, "scene": "The spoon is at the back, and another spoon is positioned to the back left."}
+{"scene_index": 160, "scene": "The two spoons are both located at the back of the scene, with one positioned slightly to the right."}
+{"scene_index": 161, "scene": "The spoon is located at the center position."}
+{"scene_index": 162, "scene": "The spoon is positioned at the back."}
+{"scene_index": 163, "scene": "The spoon is located at the back right position."}
+{"scene_index": 164, "scene": "The spoon is located at the back right position."}
+{"scene_index": 165, "scene": "The spoon is at the back, and another spoon is located at the back left."}
+{"scene_index": 166, "scene": "The spoon is located at the back position."}
+{"scene_index": 167, "scene": "The spoon is located at the back left position."}
+{"scene_index": 168, "scene": "The spoon is located at the back position."}
+{"scene_index": 169, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 170, "scene": "The spoon is located at the back position."}
+{"scene_index": 171, "scene": "The spoon is located at the back right and another spoon is centrally positioned."}
+{"scene_index": 172, "scene": "The spoon is positioned at the back."}
+{"scene_index": 173, "scene": "The spoon is located at the back left position."}
+{"scene_index": 174, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 175, "scene": "The spoon is located at the back right position, while the other spoon is positioned at the back location."}
+{"scene_index": 176, "scene": "The spoon is located at the back position."}
+{"scene_index": 177, "scene": "The spoon is located at the back right position."}
+{"scene_index": 178, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 179, "scene": "The spoon is located at the back position."}
+{"scene_index": 180, "scene": "The spoon is positioned at the back right location."}
+{"scene_index": 181, "scene": "The spoon is located to the right of the other spoon, which is placed at the back."}
+{"scene_index": 182, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 183, "scene": "The spoon is located at the back right position."}
+{"scene_index": 184, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 185, "scene": "The spoon is on the right side."}
+{"scene_index": 186, "scene": "The two spoons are positioned at the back right and on the left."}
+{"scene_index": 187, "scene": "Each spoon is positioned at the back and back right sections of the area, with both occupying distinct locations within their respective regions."}
+{"scene_index": 188, "scene": "The spoon is located at the back position, indicating its placement behind other objects or in a rear area relative to the setup."}
+{"scene_index": 189, "scene": "The spoon is located at the back position."}
+{"scene_index": 190, "scene": "The spoon is located at the back left position."}
+{"scene_index": 191, "scene": "Each spoon is positioned at different locations on the back or back right area."}
+{"scene_index": 192, "scene": "The spoon is located at the back position."}
+{"scene_index": 193, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 194, "scene": "The spoon is located at the back right position."}
+{"scene_index": 195, "scene": "The spoon is located at the back-left position."}
+{"scene_index": 196, "scene": "The spoon is located at the back position."}
+{"scene_index": 197, "scene": "The spoon is located at the back right position."}
+{"scene_index": 198, "scene": "The spoon is located at the back position."}
+{"scene_index": 199, "scene": "The spoon is positioned at the back, with another spoon placed to its right."}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/subtask_annotations.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/subtask_annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e368110f200406c6ece2b360f15edc2ab6dbbe8d
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/subtask_annotations.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Grasp the spoon with right gripper"}
+{"subtask_index": 1, "subtask": "Grasp the spoon with left gripper"}
+{"subtask_index": 2, "subtask": "Place the spoon on the table with left gripper"}
+{"subtask_index": 3, "subtask": "Static"}
+{"subtask_index": 4, "subtask": "End"}
+{"subtask_index": 5, "subtask": "Place the spoon on the table with right gripper"}
+{"subtask_index": 6, "subtask": "null"}
diff --git a/R1_Lite_move_the_position_of_the_spoon/annotations/subtasks.jsonl b/R1_Lite_move_the_position_of_the_spoon/annotations/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8eba280edb012f04c685e2c6fc9f42182a28b54
--- /dev/null
+++ b/R1_Lite_move_the_position_of_the_spoon/annotations/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Static"}
+{"subtask_index": 1, "subtask": "Grasp the spoon with left gripper"}
+{"subtask_index": 2, "subtask": "Grasp the spoon with right gripper"}
+{"subtask_index": 3, "subtask": "Place the spoon on the table with left gripper"}
+{"subtask_index": 4, "subtask": "End"}
+{"subtask_index": 5, "subtask": "Place the spoon on the table with right gripper"}
+{"subtask_index": 6, "subtask": "null"}
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diff --git a/R1_Lite_move_the_position_of_the_spoon/meta/info.json b/R1_Lite_move_the_position_of_the_spoon/meta/info.json
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