Copy R1_Lite_move_the_position_of_the_milk into RoboCOIN_useable

R1_Lite_move_the_position_of_the_milk/.gitattributes

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

R1_Lite_move_the_position_of_the_milk/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# R1_Lite_move_the_position_of_the_milk
+
+## 📋 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** | 59 |
+| **Total Frames** | 12898 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 236 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 421.8MB |
+
+
+## 👥 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 milk the designated position.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Grasp the wangzai milk with left gripper** 
+2. **Place the wangzai milk on the table with right gripper** 
+3. **Static** 
+4. **Place the wangzai milk on the table with left gripper** 
+5. **Grasp the wangzai milk with right gripper** 
+6. **End** 
+7. **Abnormal** 
+8. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:58
+
+
+## 📁 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": 59, "total_frames": 12898, "total_tasks": 1, "total_videos": 236, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:58"}, "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_milk_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_left_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

R1_Lite_move_the_position_of_the_milk/annotations/eef_acc_mag_annotation.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/eef_direction_annotation.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/eef_velocity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/gripper_activity_annotation.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/gripper_mode_annotation.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 1, "scene": "The cartons of milk are positioned in the following manner: one is at the back left, two are at the back right (one on top of the other), and one is on the left."}
+{"scene_index": 2, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 3, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 4, "scene": "The carton milk is positioned at the back, while another carton milk is located at the back right position."}
+{"scene_index": 5, "scene": "The two cartons of milk are positioned with one in the center and the other behind it."}
+{"scene_index": 6, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 7, "scene": "The carton milk is positioned at the back, while the other carton milk is located in the back left position."}
+{"scene_index": 8, "scene": "Each carton of milk is positioned either at the back or on the right side relative to each other."}
+{"scene_index": 9, "scene": "The carton milk is positioned both at the back and the center."}
+{"scene_index": 10, "scene": "The carton milk is placed at both the back right and center positions."}
+{"scene_index": 11, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 12, "scene": "The carton milk is on the left side and behind the other carton milk."}
+{"scene_index": 13, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 14, "scene": "The carton milk is at the center, while another carton milk is located in the back right area."}
+{"scene_index": 15, "scene": "The carton milk is positioned at the back, while another carton milk is placed in the back left position."}
+{"scene_index": 16, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 17, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 18, "scene": "The carton milk is located at the back position."}
+{"scene_index": 19, "scene": "The carton milk is on the left side."}
+{"scene_index": 20, "scene": "The carton milk is on the right, while another carton milk is located at the back left."}
+{"scene_index": 21, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 22, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 23, "scene": "The carton milk is on the right side."}
+{"scene_index": 24, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 25, "scene": "Each carton of milk is placed at the back right position."}
+{"scene_index": 26, "scene": "The carton milk is located at the back right position, while the on milk is situated at the back position."}
+{"scene_index": 27, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 28, "scene": "Carton milk is at the center; another carton milk is behind it on the left side."}
+{"scene_index": 29, "scene": "There are two cartons of milk; one is positioned at the center, while the other is located behind it."}
+{"scene_index": 30, "scene": "The carton milk is positioned on the right side at the back location."}
+{"scene_index": 31, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 32, "scene": "Three cartons of milk are arranged with two on the right side and one centered in the middle."}
+{"scene_index": 33, "scene": "The carton milk is located at both the back right and center positions."}
+{"scene_index": 34, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 35, "scene": "The carton milk is located at the back, while the milk is positioned slightly to the back right relative to it."}
+{"scene_index": 36, "scene": "Carton Milk 1 is positioned at the center. Carton Milk 2 is positioned at the back left."}
+{"scene_index": 37, "scene": "The two cartons of milk are positioned at the back and on the right side."}
+{"scene_index": 38, "scene": "A single carton of milk is positioned at the back, while another carton of milk is placed in the back-left area."}
+{"scene_index": 39, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 40, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 41, "scene": "The carton milk is located at the back of the shelf, while the other carton milk is positioned at the back right section of the shelf."}
+{"scene_index": 42, "scene": "The carton milk is placed at the back."}
+{"scene_index": 43, "scene": "There are three cartons of milk positioned in different locations within a refrigerated display case. Each carton is placed at the following positions: one is located towards the back on the right side (back right), another is situated centrally (center), and the third is positioned towards the back on the left side (back left)."}
+{"scene_index": 44, "scene": "The carton milk is positioned at the back right location."}
+{"scene_index": 45, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 46, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 47, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 48, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 49, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 50, "scene": "The carton milk is positioned on the right side, located at the back-left corner, and situated in the back area."}
+{"scene_index": 51, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 52, "scene": "The carton milk is on the right side."}
+{"scene_index": 53, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 54, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 55, "scene": "The carton milk is located at the back."}
+{"scene_index": 56, "scene": "The carton milk is positioned at the back, right."}
+{"scene_index": 57, "scene": "The carton milk is positioned at the back, while another carton milk is placed in the center."}
+{"scene_index": 58, "scene": "The two cartons of milk are positioned at the back right and back left locations within the described space."}
+{"scene_index": 59, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 60, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 61, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 62, "scene": "The two cartons of milk are positioned side by side, with one located in the center and the other on the right."}
+{"scene_index": 63, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 64, "scene": "The carton milk is positioned at the back, while the other carton milk is located in the back left position."}
+{"scene_index": 65, "scene": "The carton milk is located at the back left and another carton milk is positioned on the right."}
+{"scene_index": 66, "scene": "The carton milk is on the left side."}
+{"scene_index": 67, "scene": "The carton milk is located at the back position."}
+{"scene_index": 68, "scene": "The carton milk is located at the back, while the other carton milk is positioned in the back right area."}
+{"scene_index": 69, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 70, "scene": "The carton milk is positioned on the right side, while another carton milk is located at the back."}
+{"scene_index": 71, "scene": "The carton milk is located at the back."}
+{"scene_index": 72, "scene": "The carton milk is on the right side."}
+{"scene_index": 73, "scene": "The cartons of milk are placed in two positions: one is located at the back left, while the other is positioned in the center."}
+{"scene_index": 74, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 75, "scene": "Carton milk is positioned at the back, while carton milk is located at the back left."}
+{"scene_index": 76, "scene": "The carton milk is located at the back."}
+{"scene_index": 77, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 78, "scene": "The carton milk is placed at the back."}
+{"scene_index": 79, "scene": "The carton milk is located at the back."}
+{"scene_index": 80, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 81, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 82, "scene": "The carton milk is placed at the back position."}
+{"scene_index": 83, "scene": "The carton milk is located at the back position."}
+{"scene_index": 84, "scene": "The carton milk is located at the center, while another carton milk is positioned towards the back left."}
+{"scene_index": 85, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 86, "scene": "The carton milk is placed at the back position."}
+{"scene_index": 87, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 88, "scene": "The carton milk is located to the right side of another carton milk placed at the back right."}
+{"scene_index": 89, "scene": "The carton milk is positioned on the right side."}
+{"scene_index": 90, "scene": "The carton milk is positioned at the back right location."}
+{"scene_index": 91, "scene": "The carton milk is located on the left side."}
+{"scene_index": 92, "scene": "The carton milk is located to the right side."}
+{"scene_index": 93, "scene": "The carton milk is located at the back position."}
+{"scene_index": 94, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 95, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 96, "scene": "The carton milk is positioned at the back left, while another carton milk is placed further back without a specific side mentioned."}
+{"scene_index": 97, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 98, "scene": "The carton milk is located to the right side."}
+{"scene_index": 99, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 100, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 101, "scene": "The carton milks are positioned with one at the back and another at the center, maintaining their respective locations relative to each other."}
+{"scene_index": 102, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 103, "scene": "The carton milk is located at the back right and another carton milk is positioned behind it, both placed on the shelf."}
+{"scene_index": 104, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 105, "scene": "The cartons of milk are positioned on either side, with one on the left and the other on the right."}
+{"scene_index": 106, "scene": "The carton milk is located at the back."}
+{"scene_index": 107, "scene": "There are three cartons of milk; two are positioned on the right side, one is placed at the back right location."}
+{"scene_index": 108, "scene": "The carton milk is located at the back position."}
+{"scene_index": 109, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 110, "scene": "The first carton milk is centered and the second carton milk is positioned at the back."}
+{"scene_index": 111, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 112, "scene": "The carton milk is placed at the back."}
+{"scene_index": 113, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 114, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 115, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 116, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 117, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 118, "scene": "Two cartons of milk are present; one is located at the back left position while the other is positioned at the back location."}
+{"scene_index": 119, "scene": "The carton milk is positioned on the right side."}
+{"scene_index": 120, "scene": "The carton milk is positioned at the back left, while the milk is located in the center."}
+{"scene_index": 121, "scene": "The carton milk is placed at the back."}
+{"scene_index": 122, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 123, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 124, "scene": "The carton milk is located at the back."}
+{"scene_index": 125, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 126, "scene": "The carton milk is positioned on the left side."}
+{"scene_index": 127, "scene": "Both cartons of milk are positioned at the back, with one specifically located in the back left area."}
+{"scene_index": 128, "scene": "Both cartons of milk are located at the back of the shelf, with one specifically positioned in the right side area."}
+{"scene_index": 129, "scene": "The carton milk is located at the back."}
+{"scene_index": 130, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 131, "scene": "Both cartons of milk are positioned at the back, with one specifically located in the back right area."}
+{"scene_index": 132, "scene": "The carton milk is located at the back."}
+{"scene_index": 133, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 134, "scene": "The carton milk is positioned at the back right location."}
+{"scene_index": 135, "scene": "The carton milk is positioned at three different locations: one in the back, one on the left, and another in the back right."}
+{"scene_index": 136, "scene": "The two cartons of milk are positioned on either side of a central point, with one located to the left and the other at the center."}
+{"scene_index": 137, "scene": "The two cartons of milk are both located at the back position."}
+{"scene_index": 138, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 139, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 140, "scene": "The carton milk is positioned at the back, while the other carton milk is located at the back left."}
+{"scene_index": 141, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 142, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 143, "scene": "Carton milk is positioned at the back, center, and back left."}
+{"scene_index": 144, "scene": "The carton milk is located at the back right position, while another carton milk is positioned at the back location."}
+{"scene_index": 145, "scene": "Carton milk is positioned at the left; another carton milk is located at the back left, and a third carton milk is placed at the back right."}
+{"scene_index": 146, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 147, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 148, "scene": "The carton milk is located at the back."}
+{"scene_index": 149, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 150, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 151, "scene": "The carton milk is located on the right side."}
+{"scene_index": 152, "scene": "The carton milk is located in two positions: one at the back left and another at the center."}
+{"scene_index": 153, "scene": "The carton milk is located at the back."}
+{"scene_index": 154, "scene": "The two cartons of milk are positioned with one at the back right and the other at the front right."}
+{"scene_index": 155, "scene": "Each carton of milk is positioned either to the right or at the back."}
+{"scene_index": 156, "scene": "The carton milk is positioned at the back left location."}
+{"scene_index": 157, "scene": "Two cartons of milk are both positioned at the center."}
+{"scene_index": 158, "scene": "Carton milk is on the right side and carton milk is at the back left."}
+{"scene_index": 159, "scene": "The carton milk is positioned on the right side."}
+{"scene_index": 160, "scene": "The carton milk is positioned at the back right location."}
+{"scene_index": 161, "scene": "Two cartons of milk are positioned at the back left and back right locations."}
+{"scene_index": 162, "scene": "Carton milk is located at back left and center."}
+{"scene_index": 163, "scene": "The carton milk is located at both the back right and right positions."}
+{"scene_index": 164, "scene": "The carton milk is positioned on the right side."}
+{"scene_index": 165, "scene": "The carton milk is positioned at the center, while another carton milk is located at the back."}
+{"scene_index": 166, "scene": "The carton milk is placed at the back."}
+{"scene_index": 167, "scene": "The carton milk is on the left."}
+{"scene_index": 168, "scene": "A carton of milk is centered, while another carton of milk is positioned at the back-left."}
+{"scene_index": 169, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 170, "scene": "The carton milk is located at the back."}
+{"scene_index": 171, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 172, "scene": "The carton milk is positioned at the center and back left of the scene."}
+{"scene_index": 173, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 174, "scene": "The carton milk is positioned both at the back and on the left."}
+{"scene_index": 175, "scene": "Carton milk, position: back left; carton milk, position: center; carton milk, position: right"}
+{"scene_index": 176, "scene": "There are two cartons of milk; one is positioned at the center, while the other is located in the back right area."}
+{"scene_index": 177, "scene": "The carton milk is positioned both at the back and center, indicating two separate instances with identical items placed in different locations."}
+{"scene_index": 178, "scene": "The carton milk is located at the back position."}
+{"scene_index": 179, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 180, "scene": "Carton Milk 1 is located at the back right, Carton Milk 2 is positioned on the right side, and Carton Milk 3 is situated at the back."}
+{"scene_index": 181, "scene": "The carton milk is positioned to the right, one carton is at the back left, and another carton is in the center."}
+{"scene_index": 182, "scene": "The carton milk is placed at the back position."}
+{"scene_index": 183, "scene": "Each carton of milk is positioned in its respective location, with specific placements noted as back left, right, and back."}
+{"scene_index": 184, "scene": "The two cartons of milk are positioned with one located at the back right and the other centrally placed."}
+{"scene_index": 185, "scene": "The carton milk is located at the back left position."}
+{"scene_index": 186, "scene": "The carton milk is located at the back."}
+{"scene_index": 187, "scene": "The carton milk is located on the right side."}
+{"scene_index": 188, "scene": "The carton milk is on the right side."}
+{"scene_index": 189, "scene": "Each carton of milk is positioned on the right side, with two of them specifically located in the back right area."}
+{"scene_index": 190, "scene": "The carton milk is located at the back right position."}
+{"scene_index": 191, "scene": "Carton milk is on the left and another carton milk is at the back."}
+{"scene_index": 192, "scene": "The carton milk is located at the back."}
+{"scene_index": 193, "scene": "The two cartons of milk are positioned on either side, one on the left and the other on the right."}
+{"scene_index": 194, "scene": "The carton milk is positioned at both the back left and the center."}
+{"scene_index": 195, "scene": "The carton milk is positioned at the center."}
+{"scene_index": 196, "scene": "The carton milk is positioned at the back."}
+{"scene_index": 197, "scene": "The first carton milk is positioned at the center. The second carton milk is positioned at the back."}
+{"scene_index": 198, "scene": "The carton milk is located on the right side."}
+{"scene_index": 199, "scene": "The carton milk is located to the right side."}

R1_Lite_move_the_position_of_the_milk/annotations/subtask_annotations.jsonl

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

R1_Lite_move_the_position_of_the_milk/annotations/subtasks.jsonl

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+{"subtask_index": 1, "subtask": "Grasp the wangzai milk with left gripper"}
+{"subtask_index": 2, "subtask": "Abnormal"}
+{"subtask_index": 3, "subtask": "Static"}
+{"subtask_index": 4, "subtask": "Place the wangzai milk on the table with left gripper"}
+{"subtask_index": 5, "subtask": "End"}
+{"subtask_index": 6, "subtask": "Place the wangzai milk on the table with right gripper"}
+{"subtask_index": 7, "subtask": "null"}

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