Copy R1_Lite_tableware_cleaning into RoboCOIN_useable

R1_Lite_tableware_cleaning/.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_tableware_cleaning/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_tableware_cleaning
+
+## 📋 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`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 102 |
+| **Total Frames** | 327254 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 306 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 17.6GB |
+
+
+## 👥 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
+wipe the tableware with a sponge containing detergent then put them in their original places.
+
+### Sub-Tasks
+This dataset includes 25 distinct subtasks:
+
+1. **End** 
+2. **Rinse the chopsticks** 
+3. **Place the dish soap on the table** 
+4. **Wipe the plate** 
+5. **Rinse the plate** 
+6. **Place the chopsticks on the glass basin** 
+7. **Pick up a bowl and the sponge** 
+8. **Rinse the bowl** 
+9. **Wash the plate** 
+10. **Place the plate on the plate** 
+11. **Place the plate on the table** 
+12. **Place the spoon in the glass basin** 
+13. **Place the bowl on the table** 
+14. **Wipe the bowl** 
+15. **Squeeze it onto the sponge** 
+16. **Abnormal** 
+17. **Rinse the spoon** 
+18. **Place the bowl on the plate** 
+19. **Put down the sponge** 
+20. **Place the bowl on the bowl** 
+21. **Turn off the faucet** 
+22. **Grab the dish soap** 
+23. **Wash the bowl** 
+24. **Turn on the faucet** 
+25. **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 0:101
+
+
+## 📁 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": 102, "total_frames": 327254, "total_tasks": 1, "total_videos": 306, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:101"}, "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_tableware_cleaning_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_tableware_cleaning/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_tableware_cleaning/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_tableware_cleaning/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_tableware_cleaning/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_tableware_cleaning/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_tableware_cleaning/annotations/scene_annotations.jsonl

@@ -0,0 +1,104 @@
+{"scene_index": 0, "scene": "Faucet is located at Front Fruit 1 is located at Right Tableware 1 is located at Back Left Fruit 2 is located at Front Right Tableware 2 is located at Left Tableware 3 is located at Back Left Detergent is located at Front Left Tableware 4 is located at Right"}
+{"scene_index": 1, "scene": "Fruit is at the front right. Another fruit is also at the front right. Tableware is at the back left. Faucet is in front. Tableware is again at the back left. Sponge is at the back right. Tableware is at the front right. Tableware is on the left side. Detergent is at the front left. Another tableware item is on the left."}
+{"scene_index": 2, "scene": "Faucet is positioned in the front, fruit is positioned on the right, tableware are positioned at the back left, and detergent is positioned on the left."}
+{"scene_index": 3, "scene": "The faucet is at the front, the tablewares are all positioned at the back left, the fruits are on the right and front right, the detergent is at the front left, the sponge is at the back right."}
+{"scene_index": 4, "scene": "The Faucet is in the front. The Fruit is on the right. The Detergent is in the front-left. The Tableware is on the left, back-left, and right."}
+{"scene_index": 5, "scene": "Faucet is located at the front fruit is positioned in the front right tableware is placed at the back left detergent is situated at the front left"}
+{"scene_index": 6, "scene": "The faucet is at the front, the tableware are on the back left and left, the fruit is on the right (twice), the tableware are also on the back left and right, the detergent is on the front left, and the sponge is on the back right."}
+{"scene_index": 7, "scene": "The fruit is at the front right, with the detergent on its left side at front left. The faucet is in front of them. On the left side, there is tableware positioned towards the back left, and another set of tableware is also on the back left. Additionally, there are more tablewares located at the front right and back left positions."}
+{"scene_index": 8, "scene": "The faucet is at the front, with fruit positioned in the front right. Tableware are located on the left and back left, with one also in the front right. Detergent is placed at the front left."}
+{"scene_index": 9, "scene": "Faucet is positioned at the front Fruit is located at the front right Tableware is placed in multiple positions back left and front right Detergent is situated at the front left"}
+{"scene_index": 10, "scene": "The faucet is in the front, two fruits are both in the front right, tableware items are on the left and back left, detergent is in the front left."}
+{"scene_index": 11, "scene": "The faucet is at the front, the fruit is in the front right, tableware is at the back left, detergent is in the front left, another tableware is also at the back left, there s a sponge at the back right."}
+{"scene_index": 12, "scene": "The faucet is at the front. The fruit is on the front right. Tableware is on the left and back left. Detergent is in front left."}
+{"scene_index": 13, "scene": "The faucet is located at front, the fruit is placed at front right, the tableware are positioned at back left, and the detergent is situated at front left."}
+{"scene_index": 14, "scene": "The fruit is positioned in the front right, with multiple instances of tableware placed throughout the scene including back left and front right positions."}
+{"scene_index": 15, "scene": "The faucet is in the front, the tableware is on the back left and left sides, the fruit is at the front right and right sides, and the detergent is in the front left."}
+{"scene_index": 16, "scene": "Fruit is at the front right, Faucet is in front, Tableware is on the back left and front right, Detergent is at the front left, another Tableware is on the left, Sponge is at the back right, and another Tableware is at the front right."}
+{"scene_index": 17, "scene": "Faucet is at the front, fruit is at the front right, detergent is at the front left, tableware is at the back left (three pieces)."}
+{"scene_index": 18, "scene": "Faucet is positioned in the front Fruit is on the right and front right Tableware is located at back left right and front right Detergent is placed at front left The table is positioned to the left Sponge is situated at back right"}
+{"scene_index": 19, "scene": "The two fruits are both at the front right, the faucet is at the front, the detergent is at the front left, there are two tablewares at the back left and three at the front right."}
+{"scene_index": 20, "scene": "The faucet is at the front, the tableware are on the back left and left sides, the fruit is on the right and front right, detergent is at the front left, and there is another tableware at the right."}
+{"scene_index": 21, "scene": "The faucet is in the front, with tableware on the back left and left sides, fruit on the right side, detergent on the left, a sponge on the back right, and more tableware on the right."}
+{"scene_index": 22, "scene": "The faucet is at the front, a fruit is on the right, another fruit is in front-right, tableware are distributed across back-left (three instances), right, and back-left again, a detergent is at front-left, a sponge is at back-right, and the remaining tableware items are spread throughout the back-left and front-right positions."}
+{"scene_index": 23, "scene": "The faucet is in the front, the fruit is in the front right, the tableware are on the back left and front right, the detergent is in the front left, the sponge is on the back right, and there are additional tablewares on the back left and front right."}
+{"scene_index": 24, "scene": "The faucet is at the front, the fruit is in the front right, the detergent is on the front left, the tableware are on the left, the sponge is at the back right."}
+{"scene_index": 25, "scene": "The faucet is at the front, the fruit is on the front right and right, the detergent is on the front left, and the tableware are on the back left, left, back left, back left, and right."}
+{"scene_index": 26, "scene": "The faucet is at the front, with the detergent on its left. The tableware is positioned across the scene: some are to the left and back left, one is in front right alongside two fruits which are also front right."}
+{"scene_index": 27, "scene": "The objects are positioned as follows: two fruits are at the front right, a faucet is at the front, tableware is spread across the left, front right, and back left, a table is at the back left, detergent is at the front left, and a sponge is at the back right."}
+{"scene_index": 28, "scene": "Faucet is positioned at the front; fruit is located at the front right; tableware are placed in multiple positions: back left, left, and front right; detergent is situated at the front left."}
+{"scene_index": 29, "scene": "The faucet is at the front of the sink. There are two fruits both located in the front right corner. The tableware is positioned in the back left and also on the left side near other similar items. A bottle of detergent is placed in the front left area. Another piece of tableware is situated in the front right, matching its counterpart s position."}
+{"scene_index": 30, "scene": "Fruit is positioned at front right, faucet is positioned at front, tableware is positioned at back left and also at left, front right, and front right, and detergent is positioned at front left."}
+{"scene_index": 31, "scene": "Fruit is in the front-right faucet is at the front detergent is to the front-left tableware is on the back-left left and front-right sponge is at the back-right."}
+{"scene_index": 32, "scene": "Faucet is at the front. Fruit is on the right and front right. Tableware is on the left back left and right. Detergent is at the front left."}
+{"scene_index": 33, "scene": "Faucet is in the front Fruit is in the front right (mentioned twice) Tableware is in the back left and also in the front right (three times) and on the left Detergent is in the front left."}
+{"scene_index": 34, "scene": "The faucet is at the front. The fruits are on the right and front-right. Tableware is in the back-left, left, and right areas. Detergent is on the front-left, and the sponge is at the back-right."}
+{"scene_index": 35, "scene": "The faucet is at the front, the fruits are on the front right and right sides, tablewares are located on the back left, left, and right, and detergent is positioned at the front left."}
+{"scene_index": 36, "scene": "Faucet is at the front. Fruit is on the right and also at the front right. Tableware is on the left, back left, right, and back left again. Detergent is at the front left."}
+{"scene_index": 37, "scene": "The faucet is at the front, the fruit is on the right, tableware is on both the left and right sides (with multiple pieces), and detergent is in the front-left corner."}
+{"scene_index": 38, "scene": "fruit is located at front right (appears twice), faucet is located at front, tableware is located at back left (appears twice), left (once), and front right (once), detergent is located at front left, and sponge is located at back right."}
+{"scene_index": 39, "scene": "The faucet is at the front. The fruits are on the right and front right. Tableware is at the back left, left, and right. Detergent is at the front left. The sponge is at the back right."}
+{"scene_index": 40, "scene": "The faucet is positioned in the front, while the fruits are on the right. The tablewares are located at the back left and right, and there s a detergent on the left."}
+{"scene_index": 41, "scene": "Faucet is located at the front. The first fruit is on the right side. Tableware items are positioned at back left, left, and right. The second fruit is placed in the front right, and detergent is situated at the front left."}
+{"scene_index": 42, "scene": "The faucet is at the front, with detergent to its left and fruit to its right. The tableware is located at both the back left and front right. The sponge is at the back right, while the other tableware item is also at the back left."}
+{"scene_index": 43, "scene": "The faucet is at the front, the fruit is at the front right, tableware is at the back left and also on the left, detergent is at the front left, and there are additional pieces of tableware at the front right and left."}
+{"scene_index": 44, "scene": "The faucet is at the front, with a fruit on its right. A fruit is also in the front right, and tableware is located at the back left, right, and left sides, as well as front left. Detergent is at the front left, and a sponge is at the back right."}
+{"scene_index": 45, "scene": "The fruit is at the front right, the faucet is at the front, the detergent is at the front left, the tableware is at the left, and there are additional tableware items at the back left."}
+{"scene_index": 46, "scene": "fruit is on the right, faucet is in front, fruit is in front right, tableware is at back left, detergent is on the left, tableware is at back left, tableware is on the right, sponge is at back right, tableware is in front right, tableware is at back left."}
+{"scene_index": 47, "scene": "The faucet is at the front, the fruit is on the right, tableware are in multiple positions with some back-left and others left or right, detergent is front-left, sponge is back-right."}
+{"scene_index": 48, "scene": "Faucet is at the front; two fruits are both at front right; tableware items are at front right and left; detergent is at front left; sponge is at back right."}
+{"scene_index": 49, "scene": "fruit is at the front right. tableware is on the left and also at the back left. faucet is at the front. detergent is at the front left."}
+{"scene_index": 50, "scene": "The fruit is positioned at the front right, with a faucet located directly in front. The tableware are situated at the back left, left side, and front right, while the detergent is placed at the front left."}
+{"scene_index": 51, "scene": "The two fruits are both in the front right position. The faucet is at the front. Four tablewares are located at back left (two), left, and right positions, while one is at the front right. The detergent is positioned at the front left."}
+{"scene_index": 52, "scene": "Fruit is positioned at the front right Tableware is located at the back left and also on the left side as well as front right The faucet is situated at the front Detergent is placed at the front left"}
+{"scene_index": 53, "scene": "The Faucet is located at Front. The Fruit is located at Front Right. The Tableware are located at Back Left, Back Left, and Left. The Detergent is located at Front Left. The Sponge is located at Back Right."}
+{"scene_index": 54, "scene": "The faucet is at the front, with detergent on its front-left side; a fruit is to the front-right of the faucet. Another fruit is positioned to the right. On the back-left, there are two sets of tableware, and on the back-right, there is a sponge, with an additional set of tableware placed on the right."}
+{"scene_index": 55, "scene": "The faucet is in the front, two fruits are on the right, tableware is on the left and back left, detergent is on the front left, another set of tableware is on the right, another set of tableware is on the left, and another set is on the back left, with a sponge located at the back right."}
+{"scene_index": 56, "scene": "The fruit is positioned in the front right, with two instances. The tableware is located in multiple positions: back left (two), left, front right, and back right. The faucet is at the front, and the detergent is in the front left."}
+{"scene_index": 57, "scene": "The fruit is at the front right, with the faucet in front, tableware on the left and back left, another fruit in front right, tableware again on the back left, detergent on front left, and tableware also on front right."}
+{"scene_index": 58, "scene": "The fruit is at the front right; tableware is located at both the left and back left; the detergent is at the front left; and the faucet is at the front."}
+{"scene_index": 59, "scene": "Faucet is in the front and tableware are on the back left and both sides of the left and right and detergent is in the front left and fruit is on the right and front right and sponge is in the back right and kitchen ware is on the left."}
+{"scene_index": 60, "scene": "The faucet is at the front, the fruit is at the front right, tableware is at the back left and left, detergent is at the front left, and additional tableware is at the front right and back left."}
+{"scene_index": 61, "scene": "Fruit is positioned at the front right with another fruit also at the front right Tableware items are located at the back left right left and front right Detergent is at the front left faucet is at the front sponge is at the back right and there's an additional item labeled ware at the back left."}
+{"scene_index": 62, "scene": "Faucet is in the front. Fruit is in the front right. Tableware is in the back left. Detergent is in the front left. Sponge is in the back right."}
+{"scene_index": 63, "scene": "The fruit is at the front right, there are two of them. The tableware is located at both the front right and back left, with two pieces. The faucet is in the front, the detergent is on the front left, the sponge is at the back right."}
+{"scene_index": 64, "scene": "The tableware is located back left the faucet is front the fruit is front right the detergent is front left the sponge is back right."}
+{"scene_index": 65, "scene": "The faucet is in the front, fruit is on the right, tableware is at the back left, detergent is in the front left, another fruit is on the front right, and sponge is at the back right."}
+{"scene_index": 66, "scene": "Faucet is front, fruit is right, tableware are back left and left, detergent is left, tableware are right, and sponge is back right."}
+{"scene_index": 67, "scene": "The fruit is located in the front right and also appears again in the same area. The faucet is positioned centrally at the front. Tableware items are scattered across multiple locations including back left, front right, left, and another back left. Detergent is placed at front left, and a sponge is situated at the back right."}
+{"scene_index": 68, "scene": "Faucet is at the front, fruit is on the right and front right, tableware is at the back left and right, detergent is at the front left, sponge is at the back right."}
+{"scene_index": 69, "scene": "The faucet is at the front, the tableware are on the left and back left, the fruit is on the right and front right, and the detergent is on the front left."}
+{"scene_index": 70, "scene": "Faucet is at the front Tableware are on the back left and right with two on the back left and one on the right Fruits are on the front right and front Detergent is on the front left Sponge is at the back right"}
+{"scene_index": 71, "scene": "The faucet is at the front, two fruits are located one at the front right and another also at the front right, multiple tablewares are positioned at the back left, with an additional tableware at the right, and detergent is placed at the front left."}
+{"scene_index": 72, "scene": "The faucet is in the front, the fruits are on the right and front right, the tablewares are at the back left, left, and right, the detergent is at the front left, the sponge is at the back right."}
+{"scene_index": 73, "scene": "The faucet is at the front, the fruit is on the front right and right sides, the detergent is in the front left, and the tableware is spread across the back left, left, and right areas."}
+{"scene_index": 74, "scene": "The fruit is located at the front right of the scene, with multiple instances clustered together. The tableware items are positioned across various areas, primarily集中在front right and back left. There is a single detergent bottle placed at the front left, a faucet centrally located at the front, a sponge at the back right, and additional tableware scattered throughout the scene."}
+{"scene_index": 75, "scene": "Fruit is at the front right Tableware is on the back left right side front left and front right Faucet is in front Detergent is at the front left"}
+{"scene_index": 76, "scene": "The fruit is in the front right, with another fruit also in the front right; the faucet is at the front; the tableware is located at the back left, left, and front right (two pieces); and the detergent is at the front left."}
+{"scene_index": 77, "scene": "The faucet is at the front, the fruits are on the front right and right sides, the detergents are in the front left, tablewares are positioned in the back left, left, and right areas, and the sponge is at the back right."}
+{"scene_index": 78, "scene": "The detergent is at the front left, the two fruits are both at the front right, the tableware includes three pieces located at left and two at the back left, and the faucet is in the front."}
+{"scene_index": 79, "scene": "The faucet is at the front, the fruit is on the front right and right, tableware are in multiple positions including back left, left, back left, right, and back left, detergent is at the front left, and the sponge is at the back right."}
+{"scene_index": 80, "scene": "Fruit is positioned in the front right Faucet is at the front Tableware is located in the back left left front right repeated twice and front right Detergent is placed in the front left."}
+{"scene_index": 81, "scene": "The fruit is at the front right, tableware are on the left, detergent is at the front left, and the faucet is at the front."}
+{"scene_index": 82, "scene": "The faucet is at the front. Fruit is on the right and also at the front right. Tableware is at the back left and also on the right. Detergent is at the front left."}
+{"scene_index": 83, "scene": "The faucet is at the front; fruit is on the right; tableware is on the left and also on the back left, left, and right; detergent is at the front left; sponge is at the back right."}
+{"scene_index": 84, "scene": "Faucet is at front, fruits are on front right and right, tablewares are on left, back left, and right, detergent is at front left, sponge is at back right."}
+{"scene_index": 85, "scene": "The faucet is at the front, the fruits are on the right and front right, the tableware are in the back left, left, and right, and the detergent is in the front left."}
+{"scene_index": 86, "scene": "Fruit is located at the front right, tableware is positioned at the back left, faucet is placed at the front, detergent is situated at the front left, sponge is located at the back right."}
+{"scene_index": 87, "scene": "Faucet is placed at Front Fruit is located at Front Right Tableware are positioned at Back Left and Left and Front Right Detergent is located at Front Left Sponge is placed at Back Right"}
+{"scene_index": 88, "scene": "The faucet is at the front, with a fruit to its front right and a detergent to its front left. There are multiple tablewares positioned across various locations including back left, left, and right."}
+{"scene_index": 89, "scene": "Faucet: Front. Fruit (first): Right. Tableware 1: Back Left. Fruit (second): Front Right. Tableware 2: Back Left. Tableware 3: Back Left. Detergent: Left. Tableware 4: Right. Sponge: Back Right."}
+{"scene_index": 90, "scene": "The faucet is at the front, the fruit is on the right and front right, the tableware are in the back left, left, right, and back left, the detergent is at the front left, and the sponge is at the back right."}
+{"scene_index": 91, "scene": "The fruit is at the front right, the faucet is at the front, the tableware are on the left and back left, and the detergent is at the front left."}
+{"scene_index": 92, "scene": "The Faucet is positioned at the front. The Fruit is positioned at the front right. The Tableware is positioned at the back left and also at the left, as well as the front right and back left again (repeated entries). The Detergent is positioned at the front left."}
+{"scene_index": 93, "scene": "The faucet is at the front, positioned centrally. The fruit is in the front-right area, with two instances close to each other. Tableware items are spread across different locations: one at back-left, three at various points on the left side, and two at front-right, near the fruits. A sponge is placed at the back-right corner, and detergent is located at the front-left position."}
+{"scene_index": 94, "scene": "The faucet is at the front; the fruit is on the right; tableware is at the back left and left, and also on the right; detergent is at the front left; another fruit is at the front right; and the sponge is at the back right."}
+{"scene_index": 95, "scene": "The fruit is located at the front right. The faucet is positioned at the front. The tableware is placed at both the back left, the front right, and the left. The detergent is situated at the front left. The sponge is located at the back right."}
+{"scene_index": 96, "scene": "The faucet is at the front, with the fruit positioned to the right and front-right. Tableware is located in multiple positions, primarily clustered towards the back-left but also extending to the left and right. Detergent is placed at the front-left."}
+{"scene_index": 97, "scene": "Fruit is located at front right Faucet is located at front Detergent is located at front left Tableware is located at left back left and front right Sponge is located at back right"}
+{"scene_index": 98, "scene": "The fruit is in the front right. There are two fruits in the front right. The faucet is at the front. Tableware is on the back left, left, back left, front right, and front right. Detergent is in the front left. The sponge is on the back right."}
+{"scene_index": 99, "scene": "Fruit is positioned at the front right. Tableware is located on the left and back left. Faucet is placed at the front. Detergent is situated at the front left."}
+{"scene_index": 100, "scene": "The faucet is at the front, the fruits are on the right and front right, tableware is on the back left, left, and right, and the detergent is on the front left."}
+{"scene_index": 101, "scene": "Faucet is at the front, sponge is at the back right, detergent is at the front left, tableware are positioned at back left, left, and front right, fruit are at front right."}
+{"scene_index": 102, "scene": "Faucet is at the front; two sets of tableware are at the back left and left; two fruits are at the front right; detergent is at the front left."}
+{"scene_index": 103, "scene": "Faucet is at the front, tableware are on the back left, fruit is on the front right, detergent is at the front left, and sponge is at the back right."}

R1_Lite_tableware_cleaning/annotations/subtask_annotations.jsonl

@@ -0,0 +1,25 @@
+{"subtask_index": 0, "subtask": "End"}
+{"subtask_index": 1, "subtask": "Rinse the chopsticks"}
+{"subtask_index": 2, "subtask": "Place the dish soap on the table"}
+{"subtask_index": 3, "subtask": "Wipe the plate"}
+{"subtask_index": 4, "subtask": "Rinse the plate"}
+{"subtask_index": 5, "subtask": "Place the chopsticks on the glass basin"}
+{"subtask_index": 6, "subtask": "Pick up a bowl and the sponge"}
+{"subtask_index": 7, "subtask": "Rinse the bowl"}
+{"subtask_index": 8, "subtask": "Wash the plate"}
+{"subtask_index": 9, "subtask": "Place the plate on the plate"}
+{"subtask_index": 10, "subtask": "Place the plate on the table"}
+{"subtask_index": 11, "subtask": "Place the spoon in the glass basin"}
+{"subtask_index": 12, "subtask": "Place the bowl on the table"}
+{"subtask_index": 13, "subtask": "Wipe the bowl"}
+{"subtask_index": 14, "subtask": "Squeeze it onto the sponge"}
+{"subtask_index": 15, "subtask": "Abnormal"}
+{"subtask_index": 16, "subtask": "Rinse the spoon"}
+{"subtask_index": 17, "subtask": "Place the bowl on the plate"}
+{"subtask_index": 18, "subtask": "Put down the sponge"}
+{"subtask_index": 19, "subtask": "Place the bowl on the bowl"}
+{"subtask_index": 20, "subtask": "Turn off the faucet"}
+{"subtask_index": 21, "subtask": "Grab the dish soap"}
+{"subtask_index": 22, "subtask": "Wash the bowl"}
+{"subtask_index": 23, "subtask": "Turn on the faucet"}
+{"subtask_index": 24, "subtask": "null"}

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