Copy R1_Lite_make_tea into RoboCOIN_useable

R1_Lite_make_tea/.gitattributes

@@ -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

R1_Lite_make_tea/README.md

@@ -0,0 +1,344 @@
+---
+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_make_tea
+
+## 📋 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`
+- `restaurant`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 101 |
+| **Total Frames** | 162473 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 303 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 9.0GB |
+
+
+## 👥 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
+pour kettle water into cup steep tea bag then discard it.
+
+### Sub-Tasks
+This dataset includes 23 distinct subtasks:
+
+1. **Place the tea bag into the desktop trash can** 
+2. **Place the tea bag into the desktop trash can with the left  gripper** 
+3. **Place the kettle on its original position with the left gripper** 
+4. **Hand it to the other hand** 
+5. **Pour the water from the kettle into the cup with the left gripper** 
+6. **Place the tea bag in and out of the cup several times with the left gripper ** 
+7. **Grasp the tea bag with the right gripper** 
+8. **Lift the tea bag in and out of the cup several times** 
+9. **End** 
+10. **Pick up the kettle** 
+11. **Hand it to the other gripper** 
+12. **Abnormal** 
+13. **Pick up the tea bag** 
+14. **Place the tea bag in and out of the cup several times with the right gripper** 
+15. **Place the kettle to its original position** 
+16. **Pick up the kettle with the left gripper** 
+17. **Pick up the kettle with the right gripper** 
+18. **Grasp the tea bag with the left gripper** 
+19. **Pour water from the kettle into the cup** 
+20. **Pour the water from the kettle into the cup with the right gripper** 
+21. **Place the kettle on its original position with the right gripper** 
+22. **Place the tea bag into the desktop trash can with the right gripper** 
+23. **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 0:100
+
+
+## 📁 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": 101, "total_frames": 162473, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:100"}, "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_make_tea_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_make_tea/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_make_tea/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_make_tea/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_make_tea/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_make_tea/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_make_tea/annotations/scene_annotations.jsonl

@@ -0,0 +1,102 @@
+{"scene_index": 0, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 1, "scene": "The black cup is positioned at the back, while the black kettle is placed on the right."}
+{"scene_index": 2, "scene": "The black cup is positioned on the left side."}
+{"scene_index": 3, "scene": "The black cup is located at the center, while the black kettle is positioned to its right."}
+{"scene_index": 4, "scene": "The black cup is located at the back, while the black kettle is positioned on the right side."}
+{"scene_index": 5, "scene": "The black kettle is on the right side, and the black cup is positioned at the back."}
+{"scene_index": 6, "scene": "The black cup is centered, while the black kettle is placed to its left."}
+{"scene_index": 7, "scene": "The black cup is on the left with a black kettle also on the left, while another black cup is behind it."}
+{"scene_index": 8, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 9, "scene": "The black kettle is on the left, while the black cup is positioned in the center."}
+{"scene_index": 10, "scene": "The black cup is located at the back, while the black kettle is positioned slightly to the back-left of it."}
+{"scene_index": 11, "scene": "The black kettle is on the right, and the black cup is behind it on the back right."}
+{"scene_index": 12, "scene": "The black cup is positioned at the back, while the black kettle is located to the left."}
+{"scene_index": 13, "scene": "The black cup is centered, while the black kettle is placed to its left."}
+{"scene_index": 14, "scene": "The black cup is at the back, and the black kettle is on the left."}
+{"scene_index": 15, "scene": "The black cup is positioned to the left of the black kettle, while another black cup is located behind it."}
+{"scene_index": 16, "scene": "The black kettle is on the left, a black cup is also on the left, and another black cup is at the back."}
+{"scene_index": 17, "scene": "The black cup is located at the back, while the black kettle is positioned to the left."}
+{"scene_index": 18, "scene": "The black cup is located at the back right position, while the black kettle is situated at the back left position."}
+{"scene_index": 19, "scene": "The black cup is at the center, while the black kettle is positioned to its right."}
+{"scene_index": 20, "scene": "The black cup is on the right, and the black kettle is also on the right."}
+{"scene_index": 21, "scene": "The black cup is positioned at the back right, while the black kettle is located at the back left, both placed on a surface with clear distinction in their positions."}
+{"scene_index": 22, "scene": "The black cup is at the back, and the black kettle is on the left."}
+{"scene_index": 23, "scene": "The black cup is on the left, while the black kettle is behind it."}
+{"scene_index": 24, "scene": "The black cup is located at the back right position."}
+{"scene_index": 25, "scene": "The black cup is located at the back, while the black kettle is positioned on the left."}
+{"scene_index": 26, "scene": "The black cup is located at the center, while the black kettle is positioned to its right."}
+{"scene_index": 27, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 28, "scene": "The black cup is centered, while the black kettle is positioned to its left."}
+{"scene_index": 29, "scene": "The black cup is located at the back, while the black kettle is positioned at the back left relative to it."}
+{"scene_index": 30, "scene": "The black kettle is on the right side, while the black cup is located at the back."}
+{"scene_index": 31, "scene": "The black cup is located at the back right position."}
+{"scene_index": 32, "scene": "The black cup is positioned at the back, while the black kettle is located to the left."}
+{"scene_index": 33, "scene": "The black kettle is on the left, the black cup is in the center."}
+{"scene_index": 34, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 35, "scene": "The black cup is located at the back right position, while the black kettle is positioned on the left."}
+{"scene_index": 36, "scene": "A black cup is located at the center position."}
+{"scene_index": 37, "scene": "The black kettle is on the left, the black cup is in the center, and they are both positioned side by side."}
+{"scene_index": 38, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 39, "scene": "The black cup is on the left and also at the back, while the black kettle shares the same left position."}
+{"scene_index": 40, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 41, "scene": "The black cup is located at the center position."}
+{"scene_index": 42, "scene": "The black cup is positioned at the back, while the black kettle is located on the right side."}
+{"scene_index": 43, "scene": "The black cup is located at the back, while the black kettle is positioned to the left."}
+{"scene_index": 44, "scene": "The black cup is on the left side."}
+{"scene_index": 45, "scene": "The black cup is positioned at the back, while the black kettle is located on the right side."}
+{"scene_index": 46, "scene": "The black cup is on the right with the black kettle, while another black cup is behind it."}
+{"scene_index": 47, "scene": "The black cup is centered, while the black kettle is positioned to its left."}
+{"scene_index": 48, "scene": "The black cup is positioned to the left of the black kettle and also located at the back relative to it."}
+{"scene_index": 49, "scene": "The black cup is positioned at the back, while the black kettle is located on the right side."}
+{"scene_index": 50, "scene": "The black cup is located at the center, while the black kettle is positioned to its right."}
+{"scene_index": 51, "scene": "The black cup is positioned at the back, while the black kettle is placed on the right."}
+{"scene_index": 52, "scene": "The black cup is positioned to the right."}
+{"scene_index": 53, "scene": "The black cup is located at the back, while the black kettle is positioned to the right."}
+{"scene_index": 54, "scene": "The black kettle is located at the back left position, while the black cup is situated directly behind it, without any specific positional overlap or hierarchy beyond their placement in the back area."}
+{"scene_index": 55, "scene": "The black cup is located at the back, while the black kettle is positioned to the right."}
+{"scene_index": 56, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 57, "scene": "The black cup is located at the back, while the black kettle is positioned at the back right."}
+{"scene_index": 58, "scene": "The black cup is at the center, while the black kettle is positioned to its right."}
+{"scene_index": 59, "scene": "The black cup is located at the back, while the black kettle is positioned to the right."}
+{"scene_index": 60, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 61, "scene": "The black cup is positioned at the back, while the black kettle is located to the left."}
+{"scene_index": 62, "scene": "The black cup is on the right, and there s a black kettle also positioned to its right, while another black cup is located at the back."}
+{"scene_index": 63, "scene": "The black cup is at the back, while the black kettle and a black object are both on the right side."}
+{"scene_index": 64, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 65, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 66, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 67, "scene": "The black kettle is on the right, and the black cup is behind it."}
+{"scene_index": 68, "scene": "The black cup is positioned at the back, while the black kettle is placed on the right."}
+{"scene_index": 69, "scene": "The black cup is positioned at the center, while the black kettle is placed to the left of it."}
+{"scene_index": 70, "scene": "The black kettle is on the right, and the black cup is behind it."}
+{"scene_index": 71, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 72, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 73, "scene": "The black kettle is on the right side, while the black cup is positioned behind it."}
+{"scene_index": 74, "scene": "The black cup is on the right, and the black kettle is on the left."}
+{"scene_index": 75, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 76, "scene": "The black kettle is positioned on the left side, while the black cup is located at the back."}
+{"scene_index": 77, "scene": "The black cup is located at the back, while the black kettle is positioned to the right."}
+{"scene_index": 78, "scene": "The black kettle is on the left, while both the black cup and the other cup are at the back."}
+{"scene_index": 79, "scene": "The black cup is positioned at the center, while the black kettle is placed to the left of it."}
+{"scene_index": 80, "scene": "The black cup and the black kettle are both located on the right side."}
+{"scene_index": 81, "scene": "The black cup is positioned on the right side."}
+{"scene_index": 82, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 83, "scene": "The black cup is positioned at the back, while the black kettle is located on the right side."}
+{"scene_index": 84, "scene": "The black cup is centered, while the black kettle is positioned to its right side."}
+{"scene_index": 85, "scene": "The black cup is located at the back, while the black kettle is situated at the back right."}
+{"scene_index": 86, "scene": "The black cup is positioned at the back."}
+{"scene_index": 87, "scene": "The black cup is located at the back, while the black kettle is positioned on the left."}
+{"scene_index": 88, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 89, "scene": "The black cup is located at the back, while both black kettles are positioned on the right side."}
+{"scene_index": 90, "scene": "The black cup is on the left, and the black kettle is on the right."}
+{"scene_index": 91, "scene": "Black cup is located at the back Black kettle is located on the right"}
+{"scene_index": 92, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 93, "scene": "The black cup is on the left, and the black kettle is on the right."}
+{"scene_index": 94, "scene": "The black cup is centered, while the black kettle is positioned to its right."}
+{"scene_index": 95, "scene": "The black cup is located at the back right, while the black kettle is positioned at the back left."}
+{"scene_index": 96, "scene": "The black cup is positioned at the center, while the black kettle is placed to its left."}
+{"scene_index": 97, "scene": "The black cup is located at the back, while the black kettle is positioned on the right side."}
+{"scene_index": 98, "scene": "The black cup is centered, while the black kettle is positioned to its left."}
+{"scene_index": 99, "scene": "The black cup is located at the center, while the black kettle is positioned to its right."}
+{"scene_index": 100, "scene": "The black kettle is on the left, and the black cup is behind it."}
+{"scene_index": 101, "scene": "The black cup is on the left, while the black kettle is behind it."}

R1_Lite_make_tea/annotations/subtask_annotations.jsonl

@@ -0,0 +1,23 @@
+{"subtask_index": 0, "subtask": "Place the tea bag into the desktop trash can"}
+{"subtask_index": 1, "subtask": "Place the tea bag into the desktop trash can with the left  gripper"}
+{"subtask_index": 2, "subtask": "Place the kettle on its original position with the left gripper"}
+{"subtask_index": 3, "subtask": "Hand it to the other hand"}
+{"subtask_index": 4, "subtask": "Pour the water from the kettle into the cup with the left gripper"}
+{"subtask_index": 5, "subtask": "Place the tea bag in and out of the cup several times with the left gripper "}
+{"subtask_index": 6, "subtask": "Grasp the tea bag with the right gripper"}
+{"subtask_index": 7, "subtask": "Lift the tea bag in and out of the cup several times"}
+{"subtask_index": 8, "subtask": "End"}
+{"subtask_index": 9, "subtask": "Pick up the kettle"}
+{"subtask_index": 10, "subtask": "Hand it to the other gripper"}
+{"subtask_index": 11, "subtask": "Abnormal"}
+{"subtask_index": 12, "subtask": "Pick up the tea bag"}
+{"subtask_index": 13, "subtask": "Place the tea bag in and out of the cup several times with the right gripper"}
+{"subtask_index": 14, "subtask": "Place the kettle to its original position"}
+{"subtask_index": 15, "subtask": "Pick up the kettle with the left gripper"}
+{"subtask_index": 16, "subtask": "Pick up the kettle with the right gripper"}
+{"subtask_index": 17, "subtask": "Grasp the tea bag with the left gripper"}
+{"subtask_index": 18, "subtask": "Pour water from the kettle into the cup"}
+{"subtask_index": 19, "subtask": "Pour the water from the kettle into the cup with the right gripper"}
+{"subtask_index": 20, "subtask": "Place the kettle on its original position with the right gripper"}
+{"subtask_index": 21, "subtask": "Place the tea bag into the desktop trash can with the right gripper"}
+{"subtask_index": 22, "subtask": "null"}

R1_Lite_make_tea/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4def46e712fa241b343f95d266afb73e3e0cb98f61f21871a3689e26e97b9a
+size 396605

R1_Lite_make_tea/data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dd678dd5733d4f239408f6d07113a7d9bd4ef50f1cc156df2bd6de62215c84
+size 322644

R1_Lite_make_tea/data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1797861f3800555e1c7b79a5aac8d565ef7c7d547a89d47e21d168d2c9e9cd
+size 286247

R1_Lite_make_tea/data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442ca584533293387e97d20e63b4fba22cbfcc028f5033cb3a25079cf2556204
+size 283969

R1_Lite_make_tea/data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d672fac8655b84fe80f890d95e8bdab4086ed37da6edbfea88a283b51f3e34
+size 377011

R1_Lite_make_tea/data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1077e90ff79c5cabed1c22eec087a18ee19dde09237bbdd0096a508d9ad81469
+size 326101

R1_Lite_make_tea/data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92b9483302dac72f80ee93e4dc92e69ce0cfc85a9f58fc47650157fcbb104b20
+size 269087

R1_Lite_make_tea/data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d45568b1e1600eb635e2ae13bbccf89c774075dcb4da78a1e8ba4eda582a52
+size 438168

R1_Lite_make_tea/data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3e6e2ec74697672ddd63931b19db2b748b9bf6eed70511ae5636a2a0683fb8
+size 434794

R1_Lite_make_tea/data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1149e82a5940c873c2a63cd6d947aaa9c4024db7e828287cfb5c9ddc833edb3a
+size 439538

R1_Lite_make_tea/data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b3c9bb7019c69a55b92f9b28cd7163b14f386ad0fd3071c855b62a87e37073
+size 350358

R1_Lite_make_tea/data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34bf24020381c2a76491e291b5f3d5d9493eaaabb1b603f252502445ec52921
+size 309555

R1_Lite_make_tea/data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ce3ee797c01e342b7b5a4e4c4d779e89dae3eb9775586881479da3e6b7f5d43
+size 355257

R1_Lite_make_tea/data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75652a2355f997873811c7554c9070c78841338107e430546b8572c7fa14d1ea
+size 303444

R1_Lite_make_tea/data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b838c7f05851fd9b5b269f2f6b0ca1c7c49c85966b95f5748c57b1cbfaa8c43a
+size 357060

R1_Lite_make_tea/data/chunk-000/episode_000015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4b7c3001c54ed30a8b8f670abbe079a1e8d7fc0ce3b1eb71046119bd6a0c6d
+size 345458

R1_Lite_make_tea/data/chunk-000/episode_000016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736be7d7a2c6dc6a39a1b48213890a3db3a54702de8166cabf979b06f97a1ba2
+size 274047

R1_Lite_make_tea/data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b85254930b4d4c3da493403fda2afe098208a8c58746750fc61abb1ea4a661c
+size 310838

R1_Lite_make_tea/data/chunk-000/episode_000018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e14d4b64725e67face78ceb6316c71f62aa2d8f5b57dcae445e57f062d8db99
+size 298241

R1_Lite_make_tea/data/chunk-000/episode_000019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d702c5876872587e1dc483c43bf73f94a8c1ff5295e61436a3c5c18027b8bd5
+size 306946

R1_Lite_make_tea/data/chunk-000/episode_000020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f150c42062ac2352ade8dc50dcd008566574bf37f82597a06a73c5c09376399b
+size 465710

R1_Lite_make_tea/data/chunk-000/episode_000021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2b1d21741986059343fb5bd4668ae980b435b807bf090919ed41a43823400d
+size 296129

R1_Lite_make_tea/data/chunk-000/episode_000022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d993c1f7df43adf8f543431281322d8b73d27609067b17e5bc266c39c050bc4
+size 473298

R1_Lite_make_tea/data/chunk-000/episode_000023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7f5887b5f3af4f3403536e6917f934fb283af4ec7c223c8703d74cc06e4f39
+size 299947

R1_Lite_make_tea/data/chunk-000/episode_000024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc75c82565f0200665173f478a604f6ff169ebf04ac2a9b19852d2fdafb561a
+size 228754

R1_Lite_make_tea/data/chunk-000/episode_000025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746e0949a2f1b6e06a4859e26beb5b43a5e2462b1dde1227d93fab001bfc1e46
+size 346576

R1_Lite_make_tea/data/chunk-000/episode_000026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77012846a37be8cf7b325c1be8f9abc07b7967bbaaaaf7db6589cdfbf011f5d3
+size 316118

R1_Lite_make_tea/data/chunk-000/episode_000027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41cc3848edd142010791a19c51872e657c0f7bbf2beb323ad6fa5399f4591b66
+size 340393

R1_Lite_make_tea/data/chunk-000/episode_000028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d52e3ea15e0fee90528ff41b8310c85067159e725e0f03cdc588b235e19ac99
+size 497004

R1_Lite_make_tea/data/chunk-000/episode_000029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7720e9921a517a9f1113e84b2d29b1a4a35e496f1f3fabc68ce95cf750c8f006
+size 325867

R1_Lite_make_tea/data/chunk-000/episode_000030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b27bd127c8f933bffd2fda71f1359cf98a6169378d675d032d5b08daa8b7a8
+size 305454

R1_Lite_make_tea/data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f595fcc6939f03b6a63d2673de4ed1d6e93f898c0b938fa256a4e1f09ee9a3
+size 310623

R1_Lite_make_tea/data/chunk-000/episode_000032.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbd52591b572451fcb339847a70aff9f7910cfdccb6f11858d9afecc4daa8e7
+size 276916

R1_Lite_make_tea/data/chunk-000/episode_000033.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e301bba8d9819750838072e483416a3351746275321d1a3d49146571b1bd7d
+size 258487

R1_Lite_make_tea/data/chunk-000/episode_000034.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4b3e6427eb8bd19ece95516167475de7678c63b2da7c8502c283cdd1838cb0
+size 331629

R1_Lite_make_tea/data/chunk-000/episode_000035.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b91aab5208a3a0272d5e35cdab62fbe191455036fb608abc3bed80a1313e8f1
+size 320881

R1_Lite_make_tea/data/chunk-000/episode_000036.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a569f9f53ead084a8e2a632dcf8fef9ecf0d279b7da90904741b431fff34c0a8
+size 424043

R1_Lite_make_tea/data/chunk-000/episode_000037.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec53fa3baae3969054c87dcd0b54e5925fe1492ca161d851fdb1679280682b7
+size 312429

R1_Lite_make_tea/data/chunk-000/episode_000038.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463aa1ad6eb060a37750b5ae433239f1e9e92bd1934031629c1c0e5ca00d8bee
+size 383296

R1_Lite_make_tea/data/chunk-000/episode_000039.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f374eface3f7e0b616d66e8214c575a3a48136e706d8e55b441fda616e99a17
+size 308433

R1_Lite_make_tea/data/chunk-000/episode_000040.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2013a1aa697f2fa8a35cf67022c568d5c94454ae07ae9241c43d5b6badc5cbb5
+size 307922