Copy R1_Lite_move_the_position_of_the_brush into RoboCOIN_useable

R1_Lite_move_the_position_of_the_brush/.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_brush/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_brush
+
+## 📋 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** | 63 |
+| **Total Frames** | 17774 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 252 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 677.0MB |
+
+
+## 👥 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 brush in the designated position.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Static** 
+2. **Place the brush on the table with right gripper** 
+3. **Grasp the brush with right gripper** 
+4. **Grasp the brush with left gripper** 
+5. **Place the brush on the table with left 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 0:62
+
+
+## 📁 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": 63, "total_frames": 17774, "total_tasks": 1, "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:62"}, "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_brush_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_brush/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_brush/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_brush/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_brush/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_brush/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_brush/annotations/scene_annotations.jsonl

@@ -0,0 +1,200 @@
+{"scene_index": 0, "scene": "The brush is behind the white table."}
+{"scene_index": 1, "scene": "The white table is at the back, with two brushes positioned on its back right side."}
+{"scene_index": 2, "scene": "The white table is positioned at the back, with three brushes also located at the back (two on the same side as the table and one slightly to the left)."}
+{"scene_index": 3, "scene": "The brush is at the back left, behind the white table which is positioned at the back, with another table placed to the right."}
+{"scene_index": 4, "scene": "The white table is at the back, with a brush positioned on its back left side, and another white table is located to the right."}
+{"scene_index": 5, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 6, "scene": "The white table is positioned at the back, with the brush located on its back-left side."}
+{"scene_index": 7, "scene": "The brush is at the back, the white table is at both the back and the right positions."}
+{"scene_index": 8, "scene": "The white table is positioned at the back, while the brush is located at the back right corner."}
+{"scene_index": 9, "scene": "The white table is positioned at the back, with the brush placed on its back left side."}
+{"scene_index": 10, "scene": "The white table is positioned at the back, with two brushes placed on it—one located at the back right side and the other at the back."}
+{"scene_index": 11, "scene": "The white table is located at both the back and right positions, while the brush is positioned only at the back."}
+{"scene_index": 12, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 13, "scene": "The white table is positioned at the back, with two brushes placed on it—one located at the back left and the other at the general left position."}
+{"scene_index": 14, "scene": "The brush is located at the back, positioned behind the white table which also occupies a position at the back."}
+{"scene_index": 15, "scene": "The white table is positioned at the back, while the brush is located to the right."}
+{"scene_index": 16, "scene": "The brush is at the back, the white table is at both the back and the right positions."}
+{"scene_index": 17, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 18, "scene": "The white table is positioned at the back, while the brush is placed in the center."}
+{"scene_index": 19, "scene": "The brush is located at the back right position, placed on top of or near the white table positioned at the back, which is also adjacent to another white table situated on the right side."}
+{"scene_index": 20, "scene": "The white table is at the back, and three brushes are placed on it, with two on the left side."}
+{"scene_index": 21, "scene": "The white table is positioned at the back, with the brush located on its back-left side."}
+{"scene_index": 22, "scene": "The white table is positioned at the back, while the brush is located at the back right."}
+{"scene_index": 23, "scene": "The brush is at the back left, another brush is at the back, and a white table is on the right."}
+{"scene_index": 24, "scene": "The white table and brush are both located at the back."}
+{"scene_index": 25, "scene": "The white table is positioned at the back, with three brushes arranged symmetrically on its surface, two placed to the back right and one to the back left."}
+{"scene_index": 26, "scene": "The brush is positioned at the back, along with the white table also located at the back, while the regular table is situated on the right side."}
+{"scene_index": 27, "scene": "The brush is positioned at the back, and the white table is also positioned at the back."}
+{"scene_index": 28, "scene": "The brush is at the back, the white table is also at the back but to the right."}
+{"scene_index": 29, "scene": "The white table is located at the back, while the brush is positioned at the back right."}
+{"scene_index": 30, "scene": "The brush is at the back, the white table with a back position, and another white table is positioned to the right."}
+{"scene_index": 31, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 32, "scene": "The white table is located at the back, and the brush is also placed at the back, sharing the same positional location."}
+{"scene_index": 33, "scene": "The brush is at the back, the white table with a back position, and another white table is positioned to the right."}
+{"scene_index": 34, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 35, "scene": "The brush is positioned at the back, the white table is also at the back, and another table is on the right side."}
+{"scene_index": 36, "scene": "The brush is at the back; there s a white table also at the back and another white table to its right."}
+{"scene_index": 37, "scene": "The brush is at the back; there s a white table also at the back and another white table to its right."}
+{"scene_index": 38, "scene": "The brush is positioned at the back left, while the white table is located behind it."}
+{"scene_index": 39, "scene": "The white table is positioned at the back, while the brush is located in the center."}
+{"scene_index": 40, "scene": "The white table is located at the back, while the brush is positioned on the back right side."}
+{"scene_index": 41, "scene": "The white table is positioned at the back, while the brush is located at the back right."}
+{"scene_index": 42, "scene": "The white table is positioned at the back, while the brush is placed on its left side."}
+{"scene_index": 43, "scene": "The white table is positioned at the back, with the brush also located at the back, suggesting both objects share a similar spatial placement in their environment."}
+{"scene_index": 44, "scene": "The brush is behind the white table."}
+{"scene_index": 45, "scene": "The white table is positioned at the back, while the first brush is on its left side. The second brush is located at the back right corner of the table, and the third brush is placed on its right side."}
+{"scene_index": 46, "scene": "The white table is positioned at the back Brush is located at the center Another brush is placed on the right side A third brush is situated at the back left A fourth brush is positioned at the back right Lastly a fifth brush is placed at the front right"}
+{"scene_index": 47, "scene": "The brush is located at the back right side, while the white table is situated at the back, indicating that both objects share a similar positional orientation towards the back area but are positioned at slightly different points."}
+{"scene_index": 48, "scene": "The white table is positioned at the back, while the brush is located at the back right corner."}
+{"scene_index": 49, "scene": "The brush is positioned at the back right, while the white table is located at the back, behind it."}
+{"scene_index": 50, "scene": "The white table is positioned at the back, with a brush in the center and another brush placed towards the back left on the table."}
+{"scene_index": 51, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 52, "scene": "The brush is positioned at the back, and the white table is also positioned at the back."}
+{"scene_index": 53, "scene": "The white table is positioned at the back, with the brush located on its back-left side."}
+{"scene_index": 54, "scene": "The brush is located at the back, positioned behind the white table which also occupies a position at the back."}
+{"scene_index": 55, "scene": "The brush is at the back, the white table is also at the back, and the regular table is on the right side."}
+{"scene_index": 56, "scene": "The brush is on the left, a white table is at the back, and another white table is on the right."}
+{"scene_index": 57, "scene": "The brush is located at the back right position, while the white table is positioned at the back location."}
+{"scene_index": 58, "scene": "The white table is positioned at the back, a brush is on the left side, and another brush is located at the back right."}
+{"scene_index": 59, "scene": "The brush is located at the back, positioned behind the white table which also occupies a position at the back."}
+{"scene_index": 60, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 61, "scene": "The white table is positioned at the back, while three brushes are placed in specific locations: one on the back left, another in the center, and a third on the front right. Additionally, there is a table located to the right side."}
+{"scene_index": 62, "scene": "The brush is positioned at the center, while the white table is located at the back."}
+{"scene_index": 63, "scene": "The brush is located at the back right side, while the white table is situated at the back, indicating that both objects share a similar positional orientation towards the back area but are positioned at slightly different points."}
+{"scene_index": 64, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 65, "scene": "The white table is positioned at the back, while the brush is located at the center."}
+{"scene_index": 66, "scene": "The brush is at the back, the white table is also at the back, and the table is on the right side."}
+{"scene_index": 67, "scene": "The brush is at the back; there s a white table also at the back and another white table to its right."}
+{"scene_index": 68, "scene": "The brush is at the back, there s a white table also at the back, and another white table is on the right."}
+{"scene_index": 69, "scene": "The brush is positioned at the back right, while there are two white tables located one at the back and another at the right."}
+{"scene_index": 70, "scene": "The brush is on the left, there is a white table at the back, and another white table is on the right."}
+{"scene_index": 71, "scene": "The white table is located at the back, with a brush positioned on its back right side and another brush placed to its immediate right."}
+{"scene_index": 72, "scene": "The brush is located at the back right side, while the white table is situated at the back, indicating that both objects share a similar positional orientation towards the back area but are positioned at slightly different points."}
+{"scene_index": 73, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 74, "scene": "The white table is at the back, with a brush positioned to its back left side, and another white table located on the right."}
+{"scene_index": 75, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 76, "scene": "The brush is located at the back, positioned behind the white table which also occupies a position at the back."}
+{"scene_index": 77, "scene": "The white table is at the back, a brush is on the right, and another brush is located at the back right."}
+{"scene_index": 78, "scene": "The brush is positioned at the back, alongside two white tables located one at the back and one on the right."}
+{"scene_index": 79, "scene": "The white table is at the back, with two brushes placed on it, one in the center and another also at the back."}
+{"scene_index": 80, "scene": "The white table is at the back, with two brushes placed on it—one positioned back left and the other to the right."}
+{"scene_index": 81, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 82, "scene": "The brush is at the center, positioned in front of the white tables located at the back and right sides."}
+{"scene_index": 83, "scene": "The white table is positioned at the back, with the brush placed on its back left side."}
+{"scene_index": 84, "scene": "The white table is positioned at the back, while the brush is located at the back right corner."}
+{"scene_index": 85, "scene": "The white table is located at the back, and the brush is also placed at the back, sharing the same positional location."}
+{"scene_index": 86, "scene": "The brush is located at the back right position, resting on the white table which spans both the back and right positions."}
+{"scene_index": 87, "scene": "The white table is positioned at the back, with the brush located on its back right side."}
+{"scene_index": 88, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 89, "scene": "The white table is positioned at the back, with two brushes placed centrally and one also located at the back."}
+{"scene_index": 90, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 91, "scene": "The brush is positioned at the back right, while the white table is located at the back, with no direct interaction between them."}
+{"scene_index": 92, "scene": "The brush is positioned at the back right, while the white tables are located at both the back and right positions."}
+{"scene_index": 93, "scene": "The white table is positioned at the back, while the brush is located on the back right side."}
+{"scene_index": 94, "scene": "The brush is positioned at the back, and the white table is also positioned at the back."}
+{"scene_index": 95, "scene": "The brush is positioned at the back right, while two white tables are located one behind and one to the right of it."}
+{"scene_index": 96, "scene": "The brush is positioned at the back left, while two white tables are located at the back (one on the right)."}
+{"scene_index": 97, "scene": "The brush is positioned at the back right, while the white table is located at the back."}
+{"scene_index": 98, "scene": "The brush is positioned at the back right, while the white tables are located at both the back and the right positions."}
+{"scene_index": 99, "scene": "The white table is positioned at the back, while the brush is located to its left."}
+{"scene_index": 100, "scene": "The white table is positioned at the back, while the brush is placed to its left."}
+{"scene_index": 101, "scene": "The brush is at the back; there s a white table also at the back and another white table to its right."}
+{"scene_index": 102, "scene": "The brush is located at the back left position, while there are two white tables placed at both the back and right positions."}
+{"scene_index": 103, "scene": "The white table is positioned at the back, with two brushes placed on it—both a brush located at the back and another slightly to the right of it."}
+{"scene_index": 104, "scene": "The white table is positioned at the back, while the brush is placed centrally on it."}
+{"scene_index": 105, "scene": "The brush is on the left, behind the white table which is on the right."}
+{"scene_index": 106, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 107, "scene": "The white table is positioned at the back, with the brush located on its back right side."}
+{"scene_index": 108, "scene": "The brush is positioned at the back, alongside two white tables located one at the back and one on the right."}
+{"scene_index": 109, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 110, "scene": "The white table is located at the back, with two brushes positioned behind it—one on the back side and another on the back left side."}
+{"scene_index": 111, "scene": "The brush is located at the back right position, while the white table is positioned at the back location."}
+{"scene_index": 112, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 113, "scene": "The brush is positioned at the back, the white table is also at the back, while the table is located to the right."}
+{"scene_index": 114, "scene": "The white table is positioned at the back, with a brush placed on its back side and another brush located on the back left of it."}
+{"scene_index": 115, "scene": "The brush is at the back, the white table is also at the back but to the right."}
+{"scene_index": 116, "scene": "The brush is located at the back left position, while the white table is situated at the back position."}
+{"scene_index": 117, "scene": "The brush is located at the back right side, while the white table is situated at the back, indicating that both objects share a similar positional orientation towards the back area but are positioned at slightly different points."}
+{"scene_index": 118, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 119, "scene": "The brush is positioned at the back right, while the white table is located at the back, behind it."}
+{"scene_index": 120, "scene": "The white table is positioned at both the back and the right sides, with a brush placed on its back left side."}
+{"scene_index": 121, "scene": "The brush is at the center. The white table is at the back. The brush is at the back left. The white table is on the right."}
+{"scene_index": 122, "scene": "The white table is positioned at the back, while the brush is located to its right."}
+{"scene_index": 123, "scene": "The white table is positioned at the back, and the brush is also located at the back."}
+{"scene_index": 124, "scene": "The brush is positioned at the back, alongside two white tables located one at the back and one on the right."}
+{"scene_index": 125, "scene": "The white table is at the back, with two brushes positioned on it: one on the back left and the other in the center."}
+{"scene_index": 126, "scene": "The brush is positioned at the back, alongside two white tables located one at the back and one on the right."}
+{"scene_index": 127, "scene": "The brush is behind the white table."}
+{"scene_index": 128, "scene": "The white table is positioned at the back, while the brush is placed to the right."}
+{"scene_index": 129, "scene": "The brush is at the back, the white table is also at the back but to the right."}
+{"scene_index": 130, "scene": "The brush is located at the back left position, while there are two white tables positioned one at the back and the other on the right."}
+{"scene_index": 131, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 132, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 133, "scene": "The white table is positioned at the back, with the brush located on its back-left side."}
+{"scene_index": 134, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 135, "scene": "The brush is positioned at the back, and the white table is also placed at the back, indicating they share a similar positional relationship in the scene."}
+{"scene_index": 136, "scene": "The white table is positioned at the back, while the two brushes are placed on either side of it—one on the back right and the other on the back left."}
+{"scene_index": 137, "scene": "The brush is located at the back left position, while the white table is positioned directly behind it."}
+{"scene_index": 138, "scene": "The brush is at the back, the white table is at both the back and the right positions."}
+{"scene_index": 139, "scene": "The white table is positioned at the back, with a brush placed on its back left side and another brush located on its right side."}
+{"scene_index": 140, "scene": "The brush is on the right side, a white table is at the back, and another white table is also on the right."}
+{"scene_index": 141, "scene": "The brush is behind the white table."}
+{"scene_index": 142, "scene": "The white table is positioned at the back, while the brush is located to the left of it."}
+{"scene_index": 143, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 144, "scene": "The brush is positioned at the back, the white table is also at the back, and another table is on the right side."}
+{"scene_index": 145, "scene": "The brush is at the back, positioned behind the white table, which is also located at the back."}
+{"scene_index": 146, "scene": "The brush is positioned at the back, and the white table is also placed at the back, indicating they share a similar positional relationship in the scene."}
+{"scene_index": 147, "scene": "The brush is located at the back right position, positioned behind and to the right of the white table which occupies the back area."}
+{"scene_index": 148, "scene": "The brush is at the back left, a white table is at the back, and another white table is at the right."}
+{"scene_index": 149, "scene": "The white table is positioned at the back, with the brush located on its back right side."}
+{"scene_index": 150, "scene": "The white table is positioned at the back, while the brush is located on the back left side."}
+{"scene_index": 151, "scene": "The brush is positioned at the back, and the white table is also positioned at the back."}
+{"scene_index": 152, "scene": "The white table and brush are both located at the back."}
+{"scene_index": 153, "scene": "The white table is at the back, with a brush on its back left side and another brush on its right side."}
+{"scene_index": 154, "scene": "The white table is positioned at the back, with two brushes located on its surface—one placed to the back left and the other to the left."}
+{"scene_index": 155, "scene": "The brush is located at the back left, the white table is positioned behind it, and another table is placed on the right side."}
+{"scene_index": 156, "scene": "The white table is positioned at the back, with two brushes also placed at the back, both adjacent to it."}
+{"scene_index": 157, "scene": "The brush is at the back, there s a white table also at the back, and another white table is on the right."}
+{"scene_index": 158, "scene": "The white table is positioned at the back, with the brush placed on its back left side."}
+{"scene_index": 159, "scene": "The brush is at back right, behind it is the white table at back, another brush is placed at back."}
+{"scene_index": 160, "scene": "The brush is located at the back, positioned behind the white table which also is situated at the back."}
+{"scene_index": 161, "scene": "The brush is at the back, there s a white table also at the back, and another white table is on the right."}
+{"scene_index": 162, "scene": "The white table is at the back, and the brush is on its left side."}
+{"scene_index": 163, "scene": "The brush is positioned at the back, alongside two white tables located one at the back and one on the right."}
+{"scene_index": 164, "scene": "The brush is positioned at the back right, while there are two white tables located one at the back and another at the right."}
+{"scene_index": 165, "scene": "The white table is located at both the back and right positions, while the brush is positioned at the back location."}
+{"scene_index": 166, "scene": "The brush is located at the back, positioned behind the white table which also is situated at the back."}
+{"scene_index": 167, "scene": "The white table is positioned at the back, with a brush also placed at the back to its right side."}
+{"scene_index": 168, "scene": "The brush is positioned to the right, while there are two white tables located at the back and also on the right side."}
+{"scene_index": 169, "scene": "The brush is at the center, a white table is positioned at the back, and another white table is placed on the right."}
+{"scene_index": 170, "scene": "The brush is positioned at the back, the white table is also positioned at the back, and another brush is positioned at the back right."}
+{"scene_index": 171, "scene": "The brush is at the back, positioned behind the white table, which is also located at the back."}
+{"scene_index": 172, "scene": "The white table is positioned at the back, with two brushes also placed at the back on or near it."}
+{"scene_index": 173, "scene": "The white table is positioned at the back, while the brush is placed on its left side."}
+{"scene_index": 174, "scene": "The brush is at the back. The white table is at the back. The table is on the right. Identify each object and its position from the given data. For each object, note down its specific position as described in the input. Summarize each object's position and relationship with the scene in a clear and concise manner without adding extra information."}
+{"scene_index": 175, "scene": "The brush is centered on the white table positioned at the back."}
+{"scene_index": 176, "scene": "The brush is located at the back left position, while the white table is positioned at the back location."}
+{"scene_index": 177, "scene": "The white table is located at the back, while the brush is positioned on the back left side."}
+{"scene_index": 178, "scene": "The white table is located at the back, and the brush is positioned on the back left side of the table."}
+{"scene_index": 179, "scene": "The white table is positioned at the back, while two brushes are placed on the back right side."}
+{"scene_index": 180, "scene": "The white table and brush are both located at the back."}
+{"scene_index": 181, "scene": "The white table is positioned at the back, while the brush is placed to its left."}
+{"scene_index": 182, "scene": "The brush is positioned at the back right, while the white tables are located at both the back and the right positions."}
+{"scene_index": 183, "scene": "The white table is located at the back, while the brush is positioned in the center."}
+{"scene_index": 184, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 185, "scene": "The white table is at the back, with two brushes positioned on either side – one brush is located at the back right and the other at the back left."}
+{"scene_index": 186, "scene": "The white table is positioned at both back and right, while the brush is placed on the right side."}
+{"scene_index": 187, "scene": "The brush is on the right side, a white table is located at the back, and another white table is also on the right."}
+{"scene_index": 188, "scene": "The brush is on the left, the white table is at the back, and the table is on the right."}
+{"scene_index": 189, "scene": "The brush is on the left, and the white table is at the back."}
+{"scene_index": 190, "scene": "The brush is located at the back right position, positioned behind and to the right of the white table which occupies the back area."}
+{"scene_index": 191, "scene": "The brush is on the back, and the white table is also on the back, while both the brush and the white table are on the right."}
+{"scene_index": 192, "scene": "The brush is positioned at the back, and the white table is also placed at the back, indicating they share a similar positional relationship in the scene."}
+{"scene_index": 193, "scene": "The white table is positioned at the back, while the brush is located on the right side."}
+{"scene_index": 194, "scene": "The white table is positioned at the back, with a brush placed on its back left side and another brush located at the center of the table."}
+{"scene_index": 195, "scene": "The white table and brush are both located at the back position."}
+{"scene_index": 196, "scene": "The brush is located at the back, positioned behind the white table which also is situated at the back."}
+{"scene_index": 197, "scene": "The brush is on the left, and the white table is at the back."}
+{"scene_index": 198, "scene": "The brush is at the back; there s a white table also at the back and another white table to its right."}
+{"scene_index": 199, "scene": "The brush is located at the back, positioned behind the white table which also is situated at the back."}

R1_Lite_move_the_position_of_the_brush/annotations/subtask_annotations.jsonl

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

R1_Lite_move_the_position_of_the_brush/annotations/subtasks.jsonl

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

R1_Lite_move_the_position_of_the_brush/data/chunk-000/episode_000000.parquet

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