Copy AIRBOT_MMK2_food_storage into RoboCOIN_useable
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- AIRBOT_MMK2_food_storage/.gitattributes +59 -0
- AIRBOT_MMK2_food_storage/README.md +352 -0
- AIRBOT_MMK2_food_storage/annotations/eef_acc_mag_annotation.jsonl +3 -0
- AIRBOT_MMK2_food_storage/annotations/eef_direction_annotation.jsonl +7 -0
- AIRBOT_MMK2_food_storage/annotations/eef_velocity_annotation.jsonl +3 -0
- AIRBOT_MMK2_food_storage/annotations/gripper_activity_annotation.jsonl +4 -0
- AIRBOT_MMK2_food_storage/annotations/gripper_mode_annotation.jsonl +3 -0
- AIRBOT_MMK2_food_storage/annotations/scene_annotations.jsonl +348 -0
- AIRBOT_MMK2_food_storage/annotations/subtask_annotations.jsonl +27 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000000.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000001.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000002.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000003.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000004.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000005.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000006.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000007.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000008.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000009.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000010.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000011.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000012.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000013.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000014.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000015.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000016.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000017.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000018.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000019.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000020.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000021.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000022.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000023.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000024.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000025.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000026.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000027.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000028.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000029.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000030.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000031.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000032.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000033.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000034.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000035.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000036.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000037.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000038.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000039.parquet +3 -0
- AIRBOT_MMK2_food_storage/data/chunk-000/episode_000040.parquet +3 -0
AIRBOT_MMK2_food_storage/.gitattributes
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AIRBOT_MMK2_food_storage/README.md
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---
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task_categories:
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- robotics
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language:
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- en
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- zh
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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.'
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extra_gated_fields:
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Company/Organization:
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type: 'text'
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description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
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Country:
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type: 'country'
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description: 'e.g., "Germany", "China", "United States"'
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tags:
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- RoboCOIN
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- LeRobot
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frame_range: 10K-100K
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license: apache-2.0
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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# AIRBOT_MMK2_food_storage
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## 📋 Overview
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| 42 |
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| 43 |
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This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
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| 44 |
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**Robot Type:** `discover_robotics_aitbot_mmk2`
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| **Codebase Version:** `v2.1`
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**End-Effector Type:** `five_finger_hand`
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## 🏠 Scene Types
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This dataset covers the following scene types:
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- `home`
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| 53 |
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| 54 |
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| 55 |
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## 🤖 Atomic Actions
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| 56 |
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| 57 |
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This dataset includes the following atomic actions:
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| 58 |
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- `grasp`
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| 59 |
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- `pick`
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| 60 |
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- `place`
|
| 61 |
+
|
| 62 |
+
|
| 63 |
+
## 📊 Dataset Statistics
|
| 64 |
+
|
| 65 |
+
| Metric | Value |
|
| 66 |
+
|--------|-------|
|
| 67 |
+
| **Total Episodes** | 344 |
|
| 68 |
+
| **Total Frames** | 58969 |
|
| 69 |
+
| **Total Tasks** | 7 |
|
| 70 |
+
| **Total Videos** | 1376 |
|
| 71 |
+
| **Total Chunks** | 1 |
|
| 72 |
+
| **Chunk Size** | 1000 |
|
| 73 |
+
| **FPS** | 30 |
|
| 74 |
+
| **Dataset Size** | 2.4GB |
|
| 75 |
+
|
| 76 |
+
|
| 77 |
+
## 👥 Authors
|
| 78 |
+
|
| 79 |
+
### Contributors
|
| 80 |
+
This dataset is contributed by:
|
| 81 |
+
- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
|
| 82 |
+
|
| 83 |
+
|
| 84 |
+
## 🔗 Links
|
| 85 |
+
|
| 86 |
+
- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 87 |
+
- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
|
| 88 |
+
- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
|
| 89 |
+
- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 90 |
+
- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
|
| 91 |
+
- **📜 License:** apache-2.0
|
| 92 |
+
|
| 93 |
+
## 🏷️ Dataset Tags
|
| 94 |
+
|
| 95 |
+
- `RoboCOIN`
|
| 96 |
+
- `LeRobot`
|
| 97 |
+
|
| 98 |
+
|
| 99 |
+
## 🎯 Task Descriptions
|
| 100 |
+
|
| 101 |
+
### Primary Tasks
|
| 102 |
+
Place the potato in one compartment using one hand while keeping the other hand still.
|
| 103 |
+
Pick up the cake and ice cream from the table simultaneously with both hands, and then throw them into the bowl and plate at the same time.
|
| 104 |
+
Take the sponge out of the plate with one hand and place it on the table, then pick up the cake from the table with the other hand and put it on the plate.
|
| 105 |
+
Pick up one egg on the table with one hand and put it on the plate, then pick up another egg on the table with the other hand and put it on the plate.
|
| 106 |
+
Pick up the egg on the table with one hand and put it into the egg box, then cover the egg box with the other hand.
|
| 107 |
+
Pick up the braised pork on the table with one hand and put it in the plate, and then pick up the prawns on the table with the other hand and put them in the plate.
|
| 108 |
+
Pick up one cake with one hand and place it on the wooden rack, and pick up the other cake with the other hand and place it on the wooden rack.
|
| 109 |
+
|
| 110 |
+
### Sub-Tasks
|
| 111 |
+
This dataset includes 27 distinct subtasks:
|
| 112 |
+
|
| 113 |
+
1. **Grasp the cake from the table and with the left gripper**
|
| 114 |
+
2. **Place the shrimp into the plate with the right gripper**
|
| 115 |
+
3. **Close the lid of the egg storage box with the left gripper**
|
| 116 |
+
4. **Place the potato into the left compartment of the storage box with the left gripper**
|
| 117 |
+
5. **Grasp the ice cream with the right gripper**
|
| 118 |
+
6. **Place the braised pork in brown sauce into the plate with the left gripper**
|
| 119 |
+
7. **Grasp the potato with the left gripper**
|
| 120 |
+
8. **Place the cake into the bowl with the left gripper**
|
| 121 |
+
9. **Place the egg into the egg storage box with the right gripper**
|
| 122 |
+
10. **Grasp the egg with the left gripper**
|
| 123 |
+
11. **Place the egg into the plate with the left gripper**
|
| 124 |
+
12. **Grasp the egg with the right gripper**
|
| 125 |
+
13. **Place the egg into the plate with the right gripper**
|
| 126 |
+
14. **Place the cake onto the block toy with the left gripper**
|
| 127 |
+
15. **Place the cake onto the block toy with the right gripper**
|
| 128 |
+
16. **End**
|
| 129 |
+
17. **Place the ice cream into the plate with the right gripper**
|
| 130 |
+
18. **Grasp the cake from the table and with the right gripper**
|
| 131 |
+
19. **Place the sponge on the table with the left gripper**
|
| 132 |
+
20. **Grasp the braised pork in brown sauce with the left gripper**
|
| 133 |
+
21. **Grasp the cake with the left gripper**
|
| 134 |
+
22. **Static**
|
| 135 |
+
23. **Grasp the sponge from the plate and with the left gripper**
|
| 136 |
+
24. **Place the cake into the plate with the right gripper**
|
| 137 |
+
25. **Abnormal**
|
| 138 |
+
26. **Grasp the shrimp with the right gripper**
|
| 139 |
+
27. **null**
|
| 140 |
+
|
| 141 |
+
|
| 142 |
+
## 🎥 Camera Views
|
| 143 |
+
|
| 144 |
+
This dataset includes 4 camera views.
|
| 145 |
+
|
| 146 |
+
## 🏷️ Available Annotations
|
| 147 |
+
|
| 148 |
+
This dataset includes rich annotations to support diverse learning approaches:
|
| 149 |
+
|
| 150 |
+
### Subtask Annotations
|
| 151 |
+
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
|
| 152 |
+
### Scene Annotations
|
| 153 |
+
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
|
| 154 |
+
### End-Effector Annotations
|
| 155 |
+
- **Direction**: Movement direction classifications for robot end-effectors
|
| 156 |
+
- **Velocity**: Velocity magnitude categorizations during manipulation
|
| 157 |
+
- **Acceleration**: Acceleration magnitude classifications for motion analysis
|
| 158 |
+
|
| 159 |
+
|
| 160 |
+
### Gripper Annotations
|
| 161 |
+
- **Gripper Mode**: Open/close state annotations for gripper control
|
| 162 |
+
- **Gripper Activity**: Activity state classifications (active/inactive)
|
| 163 |
+
|
| 164 |
+
|
| 165 |
+
### Additional Features
|
| 166 |
+
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
|
| 167 |
+
- Available for both state and action
|
| 168 |
+
- **Gripper Opening Scale**: Continuous gripper opening measurements
|
| 169 |
+
- Available for both state and action
|
| 170 |
+
|
| 171 |
+
|
| 172 |
+
## 📂 Data Splits
|
| 173 |
+
|
| 174 |
+
The dataset is organized into the following splits:
|
| 175 |
+
|
| 176 |
+
- **Training**: Episodes 0:343
|
| 177 |
+
|
| 178 |
+
|
| 179 |
+
## 📁 Dataset Structure
|
| 180 |
+
|
| 181 |
+
This dataset follows the LeRobot format and contains the following components:
|
| 182 |
+
|
| 183 |
+
### Data Files
|
| 184 |
+
- **Videos**: Compressed video files containing RGB camera observations
|
| 185 |
+
- **State Data**: Robot joint positions, velocities, and other state information
|
| 186 |
+
- **Action Data**: Robot action commands and trajectories
|
| 187 |
+
- **Metadata**: Episode metadata, timestamps, and annotations
|
| 188 |
+
|
| 189 |
+
### File Organization
|
| 190 |
+
- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| 191 |
+
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
|
| 192 |
+
- **Chunking**: Data is organized into 1 chunk(s)
|
| 193 |
+
of size 1000
|
| 194 |
+
|
| 195 |
+
|
| 196 |
+
### Features Schema
|
| 197 |
+
|
| 198 |
+
The dataset includes the following features:
|
| 199 |
+
|
| 200 |
+
#### Visual Observations
|
| 201 |
+
- **observation.images.cam_high_rgb**: video
|
| 202 |
+
- FPS: 30
|
| 203 |
+
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
|
| 204 |
+
- FPS: 30
|
| 205 |
+
- Codec: av1- **observation.images.cam_right_wrist_rgb**: video
|
| 206 |
+
- FPS: 30
|
| 207 |
+
- Codec: av1- **observation.images.cam_third_view**: video
|
| 208 |
+
- FPS: 30
|
| 209 |
+
- Codec: av1
|
| 210 |
+
|
| 211 |
+
#### State and Action- **observation.state**: float32- **action**: float32
|
| 212 |
+
|
| 213 |
+
#### Temporal Information
|
| 214 |
+
- **timestamp**: float32
|
| 215 |
+
- **frame_index**: int64
|
| 216 |
+
- **episode_index**: int64
|
| 217 |
+
- **index**: int64
|
| 218 |
+
- **task_index**: int64
|
| 219 |
+
|
| 220 |
+
|
| 221 |
+
#### Annotations
|
| 222 |
+
- **subtask_annotation**: int32
|
| 223 |
+
- **scene_annotation**: int32
|
| 224 |
+
|
| 225 |
+
|
| 226 |
+
#### Motion Features
|
| 227 |
+
- **eef_sim_pose_state**: float32
|
| 228 |
+
- 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
|
| 229 |
+
- **eef_sim_pose_action**: float32
|
| 230 |
+
- 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
|
| 231 |
+
- **eef_direction_state**: int32
|
| 232 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 233 |
+
- **eef_direction_action**: int32
|
| 234 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 235 |
+
- **eef_velocity_state**: int32
|
| 236 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 237 |
+
- **eef_velocity_action**: int32
|
| 238 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 239 |
+
- **eef_acc_mag_state**: int32
|
| 240 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 241 |
+
- **eef_acc_mag_action**: int32
|
| 242 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 243 |
+
|
| 244 |
+
|
| 245 |
+
#### Gripper Features
|
| 246 |
+
|
| 247 |
+
|
| 248 |
+
### Meta Information
|
| 249 |
+
|
| 250 |
+
The complete dataset metadata is available in [meta/info.json](meta/info.json):
|
| 251 |
+
|
| 252 |
+
```json
|
| 253 |
+
{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 344, "total_frames": 58969, "total_tasks": 7, "total_videos": 1376, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:343"}, "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": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_third_view": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "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": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "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]}}}
|
| 254 |
+
```
|
| 255 |
+
|
| 256 |
+
### Directory Structure
|
| 257 |
+
|
| 258 |
+
The dataset is organized as follows (showing leaf directories with first 5 files only):
|
| 259 |
+
|
| 260 |
+
```
|
| 261 |
+
AIRBOT_MMK2_food_storage_qced_hardlink/
|
| 262 |
+
├── annotations/
|
| 263 |
+
│ ├── eef_acc_mag_annotation.jsonl
|
| 264 |
+
│ ├── eef_direction_annotation.jsonl
|
| 265 |
+
│ ├── eef_velocity_annotation.jsonl
|
| 266 |
+
│ ├── gripper_activity_annotation.jsonl
|
| 267 |
+
│ ├── gripper_mode_annotation.jsonl
|
| 268 |
+
│ └── (...)
|
| 269 |
+
├── data/
|
| 270 |
+
│ └── chunk-000/
|
| 271 |
+
│ ├── episode_000000.parquet
|
| 272 |
+
│ ├── episode_000001.parquet
|
| 273 |
+
│ ├── episode_000002.parquet
|
| 274 |
+
│ ├── episode_000003.parquet
|
| 275 |
+
│ ├── episode_000004.parquet
|
| 276 |
+
│ └── (...)
|
| 277 |
+
├── meta/
|
| 278 |
+
│ ├── episodes.jsonl
|
| 279 |
+
│ ├── episodes_stats.jsonl
|
| 280 |
+
│ ├── info.json
|
| 281 |
+
│ └── tasks.jsonl
|
| 282 |
+
└── videos/
|
| 283 |
+
└── chunk-000/
|
| 284 |
+
├── observation.images.cam_high_rgb/
|
| 285 |
+
│ ├── episode_000000.mp4
|
| 286 |
+
│ ├── episode_000001.mp4
|
| 287 |
+
│ ├── episode_000002.mp4
|
| 288 |
+
│ ├── episode_000003.mp4
|
| 289 |
+
│ ├── episode_000004.mp4
|
| 290 |
+
│ └── (...)
|
| 291 |
+
├── observation.images.cam_left_wrist_rgb/
|
| 292 |
+
│ ���── episode_000000.mp4
|
| 293 |
+
│ ├── episode_000001.mp4
|
| 294 |
+
│ ├── episode_000002.mp4
|
| 295 |
+
│ ├── episode_000003.mp4
|
| 296 |
+
│ ├── episode_000004.mp4
|
| 297 |
+
│ └── (...)
|
| 298 |
+
├── observation.images.cam_right_wrist_rgb/
|
| 299 |
+
│ ├── episode_000000.mp4
|
| 300 |
+
│ ├── episode_000001.mp4
|
| 301 |
+
│ ├── episode_000002.mp4
|
| 302 |
+
│ ├── episode_000003.mp4
|
| 303 |
+
│ ├── episode_000004.mp4
|
| 304 |
+
│ └── (...)
|
| 305 |
+
└── observation.images.cam_third_view/
|
| 306 |
+
├── episode_000000.mp4
|
| 307 |
+
├── episode_000001.mp4
|
| 308 |
+
├── episode_000002.mp4
|
| 309 |
+
├── episode_000003.mp4
|
| 310 |
+
├── episode_000004.mp4
|
| 311 |
+
└── (...)
|
| 312 |
+
```
|
| 313 |
+
|
| 314 |
+
|
| 315 |
+
## 📞 Contact and Support
|
| 316 |
+
|
| 317 |
+
For questions, issues, or feedback regarding this dataset, please contact:
|
| 318 |
+
- **Email:** None
|
| 319 |
+
For questions, issues, or feedback regarding this dataset, please contact us.
|
| 320 |
+
### Support
|
| 321 |
+
For technical support, please open an issue on our GitHub repository.
|
| 322 |
+
|
| 323 |
+
## 📄 License
|
| 324 |
+
|
| 325 |
+
This dataset is released under the **apache-2.0** license.
|
| 326 |
+
|
| 327 |
+
Please refer to the LICENSE file for full license terms and conditions.
|
| 328 |
+
|
| 329 |
+
|
| 330 |
+
## 📚 Citation
|
| 331 |
+
|
| 332 |
+
If you use this dataset in your research, please cite:
|
| 333 |
+
|
| 334 |
+
```bibtex
|
| 335 |
+
@article{robocoin,
|
| 336 |
+
title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
|
| 337 |
+
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},
|
| 338 |
+
journal={arXiv preprint arXiv:2511.17441},
|
| 339 |
+
url = {https://arxiv.org/abs/2511.17441},
|
| 340 |
+
year={2025}
|
| 341 |
+
}
|
| 342 |
+
```
|
| 343 |
+
|
| 344 |
+
### Additional References
|
| 345 |
+
|
| 346 |
+
If you use this dataset, please also consider citing:
|
| 347 |
+
- LeRobot Framework: https://github.com/huggingface/lerobot
|
| 348 |
+
|
| 349 |
+
## 📌 Version Information
|
| 350 |
+
|
| 351 |
+
## Version History
|
| 352 |
+
- v1.0.0 (2025-11): Initial release
|
AIRBOT_MMK2_food_storage/annotations/eef_acc_mag_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
|
| 2 |
+
{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
|
| 3 |
+
{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}
|
AIRBOT_MMK2_food_storage/annotations/eef_direction_annotation.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
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|
| 1 |
+
{"eef_direction_index": 0, "eef_direction": "forward"}
|
| 2 |
+
{"eef_direction_index": 1, "eef_direction": "backward"}
|
| 3 |
+
{"eef_direction_index": 2, "eef_direction": "left"}
|
| 4 |
+
{"eef_direction_index": 3, "eef_direction": "right"}
|
| 5 |
+
{"eef_direction_index": 4, "eef_direction": "up"}
|
| 6 |
+
{"eef_direction_index": 5, "eef_direction": "down"}
|
| 7 |
+
{"eef_direction_index": 6, "eef_direction": "still"}
|
AIRBOT_MMK2_food_storage/annotations/eef_velocity_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{"eef_velocity_index": 0, "eef_velocity": "still"}
|
| 2 |
+
{"eef_velocity_index": 1, "eef_velocity": "slow"}
|
| 3 |
+
{"eef_velocity_index": 2, "eef_velocity": "fast"}
|
AIRBOT_MMK2_food_storage/annotations/gripper_activity_annotation.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
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|
|
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|
|
| 1 |
+
{"gripper_activity_index": 0, "gripper_activity": "openning"}
|
| 2 |
+
{"gripper_activity_index": 1, "gripper_activity": "closing"}
|
| 3 |
+
{"gripper_activity_index": 2, "gripper_activity": "holding"}
|
| 4 |
+
{"gripper_activity_index": 3, "gripper_activity": "unknown"}
|
AIRBOT_MMK2_food_storage/annotations/gripper_mode_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"gripper_mode_index": 0, "gripper_mode": "open"}
|
| 2 |
+
{"gripper_mode_index": 1, "gripper_mode": "closed"}
|
| 3 |
+
{"gripper_mode_index": 2, "gripper_mode": "unknown"}
|
AIRBOT_MMK2_food_storage/annotations/scene_annotations.jsonl
ADDED
|
@@ -0,0 +1,348 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"scene_index": 0, "scene": "The Potato is located at the back left. The egg box is located at the front. The table is in the center."}
|
| 2 |
+
{"scene_index": 1, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 3 |
+
{"scene_index": 2, "scene": "The table is centered, with a cake on its right side, an egg box in front, and another cake on its left side."}
|
| 4 |
+
{"scene_index": 3, "scene": "The table is positioned at the center, while the plate is placed at the front of the table."}
|
| 5 |
+
{"scene_index": 4, "scene": "The table is at the center, with an egg also at the center. The cake is in front of the table. There are eggs positioned to the right, back right, front, back, and center, as well as multiple eggs placed in front and back positions."}
|
| 6 |
+
{"scene_index": 5, "scene": "Bowl is at front left plate is at front right table is in the center cake is on the left."}
|
| 7 |
+
{"scene_index": 6, "scene": "The cake on the right is positioned to the right of the table in the center and the egg box in front, while the cake on the left is positioned to the left of the table in the center and the egg box in front, with the wooden rack also placed in front. The right hand is located to the left of the table."}
|
| 8 |
+
{"scene_index": 7, "scene": "There is a bowl at front left. There is a plate at front right. There is a table at center. There is a cake at left."}
|
| 9 |
+
{"scene_index": 8, "scene": "The table is at the center, with a plate in front, and bowls also in front. On the table, there are eggs positioned back right, center, and back left."}
|
| 10 |
+
{"scene_index": 9, "scene": "The bowl is at the front left, the plate at front right, the table in the center, and the cake at back left."}
|
| 11 |
+
{"scene_index": 10, "scene": "The table is at the center, eggs are on the right, front left, and left, plate is in front of the table, bowl is also in front of the table."}
|
| 12 |
+
{"scene_index": 11, "scene": "The table is centered, the egg plate is at the back, the plate is at the front, the egg is at the back, the prawns are on both sides, the pork is in the center, and the bowl is at the front."}
|
| 13 |
+
{"scene_index": 12, "scene": "The cake is on the left, the table is in the center, another cake is on the right, and the egg box is at the front."}
|
| 14 |
+
{"scene_index": 13, "scene": "The cake is on the right, the table is at the center, the wooden rack is in front, and there s another cake on the left."}
|
| 15 |
+
{"scene_index": 14, "scene": "The cake on the left is positioned to the left, the cake on the right is positioned to the right, the table is in the center, and the wooden rack is at the front."}
|
| 16 |
+
{"scene_index": 15, "scene": "The table is centered; the plate is at the front; the bowl is also at the front; there are two eggs; one is in the back right and the other is in the back left."}
|
| 17 |
+
{"scene_index": 16, "scene": "The bowl is at the front left on the table, the plate is at the front right on the table, the cake is at the back left on the table."}
|
| 18 |
+
{"scene_index": 17, "scene": "The table is in the center, with a plate at the front. On the right side, there s an egg, and another egg is placed at the back-left of the table. A bowl is also located at the front of the table."}
|
| 19 |
+
{"scene_index": 18, "scene": "Bowl is at front left, plate is at front right, table is in the center, cake is on the left."}
|
| 20 |
+
{"scene_index": 19, "scene": "The potato is located at the back left position, while the egg box is positioned at the front."}
|
| 21 |
+
{"scene_index": 20, "scene": "The cake on the right is next to the cake on the left, both are centered; the egg box is at the front of the table."}
|
| 22 |
+
{"scene_index": 21, "scene": "The cake is on the right, the table is in the center, the egg box is at the front, and another cake is on the left."}
|
| 23 |
+
{"scene_index": 22, "scene": "The bowl is located at front left, the plate is at front right, the table is in the center, the cake is at back left."}
|
| 24 |
+
{"scene_index": 23, "scene": "The bowl is located at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 25 |
+
{"scene_index": 24, "scene": "The table is positioned at the center, while the plate is placed in front of it."}
|
| 26 |
+
{"scene_index": 25, "scene": "The table is at the center. The egg is at the center, with another egg in the center as well. A cake is at the front, and there s a cake also positioned in the front right area. Additionally, multiple eggs are placed throughout various positions including the front, right, back, and center areas."}
|
| 27 |
+
{"scene_index": 26, "scene": "The potato is located at the back left position, while the egg box is situated at the front."}
|
| 28 |
+
{"scene_index": 27, "scene": "The table is in the center, with a plate at the front, a bowl also in front, an egg on the back right, and another egg on the back left."}
|
| 29 |
+
{"scene_index": 28, "scene": "The bowl is at the front-left, the plate is at the front-right, and the table is in the center."}
|
| 30 |
+
{"scene_index": 29, "scene": "The bowl is on the front left, the plate is on the front right, the table is in the center, and the cake is on the left."}
|
| 31 |
+
{"scene_index": 30, "scene": "The table is at the center, with a plate in front of it and another plate in front right. The egg is also placed in front right. On the right side, there s a bowl positioned front."}
|
| 32 |
+
{"scene_index": 31, "scene": "The potato is located at the back left, while the egg box is positioned in front."}
|
| 33 |
+
{"scene_index": 32, "scene": "The table is at the center. The plate is in front. The eggs are on the back right, back left, and right. The bowl is also in front."}
|
| 34 |
+
{"scene_index": 33, "scene": "The bowl is at front left, the plate at front right, the table in the center, the cake on the left, and the right hand at back right."}
|
| 35 |
+
{"scene_index": 34, "scene": "The bowl is at front left, the plate is at front right, the table is at center, and the cake is on the left."}
|
| 36 |
+
{"scene_index": 35, "scene": "There are 15 eggs positioned as follows: two at the front, one in the front right, one in the front right again, one in the center, two more in the center, and one each in the back, back right, and back right. Additionally, there is a cake at the front, an egg box at the center, and the table is also at the center."}
|
| 37 |
+
{"scene_index": 36, "scene": "The egg is at the center. The table is at the center. The cake is at the front. Eggs are at the front, right, center, back right, and back."}
|
| 38 |
+
{"scene_index": 37, "scene": "The bowl is positioned at front left, the plate at front right, the table in the center, and the cake is on the left."}
|
| 39 |
+
{"scene_index": 38, "scene": "The cake is in the front and center positions, while the eggs are scattered across various locations including the front right, front, center, back, back right, and left, with an egg box positioned on the left."}
|
| 40 |
+
{"scene_index": 39, "scene": "The cake is on the right and the other cake is on the left, both positioned next to each other."}
|
| 41 |
+
{"scene_index": 40, "scene": "The table is at the center, with a plate in front, a bowl also in front, an egg on the right, another egg in the back left, and one more egg in the front left."}
|
| 42 |
+
{"scene_index": 41, "scene": "The egg box is at the front, the potato is in the back left, and the table is centered."}
|
| 43 |
+
{"scene_index": 42, "scene": "The plate is at the front, the eggs are at the back right, back left, and center, the table is at the center, and the right hand is on the left."}
|
| 44 |
+
{"scene_index": 43, "scene": "The plate is at the front, and the table is centered."}
|
| 45 |
+
{"scene_index": 44, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 46 |
+
{"scene_index": 45, "scene": "The egg box is at the front, while the potato is located at the back left position."}
|
| 47 |
+
{"scene_index": 46, "scene": "The plate is at the front, the table is at the center, and the pork is at the back."}
|
| 48 |
+
{"scene_index": 47, "scene": "The table is at the center, with a plate and bowl in front, an egg on the front left, and another egg on the right."}
|
| 49 |
+
{"scene_index": 48, "scene": "The table is at the center, with a plate in front, two eggs positioned one on the back right and one on the back left, and a bowl also placed in front."}
|
| 50 |
+
{"scene_index": 49, "scene": "The potato is located at the back left position, while the egg box is positioned in the front."}
|
| 51 |
+
{"scene_index": 50, "scene": "The table is centered, with a bowl in front, a plate and an egg both positioned in front right."}
|
| 52 |
+
{"scene_index": 51, "scene": "The table is at the center, with a plate in front, and contains eggs positioned at the back right, back left, and center, along with a bowl also in front."}
|
| 53 |
+
{"scene_index": 52, "scene": "Each egg is positioned on the table, with specific placements including right, center, front, back, and back right."}
|
| 54 |
+
{"scene_index": 53, "scene": "The egg is at the back right, the table is in the center, the plate is at the front, and the bowl is also at the front."}
|
| 55 |
+
{"scene_index": 54, "scene": "The table is centered, with a plate in front of it, another plate in the front-right, an egg near the front-right, and a bowl in front."}
|
| 56 |
+
{"scene_index": 55, "scene": "The table is at the center, with a cake on the left and another cake on the right, while the egg box is in front."}
|
| 57 |
+
{"scene_index": 56, "scene": "The table is at the center, with eggs positioned in various locations around it, including the center, right, front, and back areas. Additionally, a cake is located at the front."}
|
| 58 |
+
{"scene_index": 57, "scene": "The table is at the center, with a plate in front of it, two eggs positioned one on the back right and the other on the back left, and a bowl placed in front."}
|
| 59 |
+
{"scene_index": 58, "scene": "Table is at center. Plate is in front. Egg box is in front. Sponge is in front."}
|
| 60 |
+
{"scene_index": 59, "scene": "egg (center), table (center), egg (right), egg (back right), egg (front right), egg (center), egg (front), egg (back), egg (front), egg (front right), cake (front), egg (center), egg (back right), egg (back), egg (right)"}
|
| 61 |
+
{"scene_index": 60, "scene": "The table is at the center, with an egg box in front, a cake on the right, and another cake on the left."}
|
| 62 |
+
{"scene_index": 61, "scene": "The plate is at the front, and the table is at the center."}
|
| 63 |
+
{"scene_index": 62, "scene": "The cake on the left is positioned to the left, the table in the center is placed centrally, the cake on the right is located to the right, and the egg box rack is at the front."}
|
| 64 |
+
{"scene_index": 63, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 65 |
+
{"scene_index": 64, "scene": "The plate is at the front, the table is at the center, the cake is on the right, the braised pork is at the back right, another cake is at the front, and the egg box is also at the front."}
|
| 66 |
+
{"scene_index": 65, "scene": "The table is at the center, the egg is on the right, and both the plate and bowl are in front."}
|
| 67 |
+
{"scene_index": 66, "scene": "The table is at the center, with a plate in front, a bowl in front, an egg in the back right, and another egg in the back left."}
|
| 68 |
+
{"scene_index": 67, "scene": "The table is at the center, with a plate in front of it, a bowl also in front but positioned to the right side, and two eggs located on the right side—one closer to the back left."}
|
| 69 |
+
{"scene_index": 68, "scene": "The table is at the center, with a plate in front, two eggs placed in the back right, and a bowl also positioned in front."}
|
| 70 |
+
{"scene_index": 69, "scene": "The cake on the left is positioned to the left, the cake on the right is positioned to the right, the table is centered, and the egg box is at the front."}
|
| 71 |
+
{"scene_index": 70, "scene": "The bowl is at front left, the plate is at front right, the table is at center, and the cake is at left."}
|
| 72 |
+
{"scene_index": 71, "scene": "The bowl is at front left. The plate is at front right. The table is at center. The cake is at left."}
|
| 73 |
+
{"scene_index": 72, "scene": "The table is at the center, with an egg box in front of it, a cake on its right, and another cake on its left."}
|
| 74 |
+
{"scene_index": 73, "scene": "The table is at the center, with the plate, cake, and egg box all positioned in front of it."}
|
| 75 |
+
{"scene_index": 74, "scene": "There is a cake on the right, there is a table in the center, there is a cake on the left, and there is an egg box rack at the front."}
|
| 76 |
+
{"scene_index": 75, "scene": "The table is at the center. The rack is on the left. An egg is at the center, another egg is on the right, and a third egg is at the front. A cake is in front of the center."}
|
| 77 |
+
{"scene_index": 76, "scene": "The cake is at the front right and front positions, while eggs are located across multiple positions including front right, front, center, right, left, back right, back, and center."}
|
| 78 |
+
{"scene_index": 77, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 79 |
+
{"scene_index": 78, "scene": "The cake is at the front right and front of the table, while multiple eggs are placed around the center, front, right, back, and back right positions on the table."}
|
| 80 |
+
{"scene_index": 79, "scene": "The scene consists of a table located at the center, with multiple eggs positioned in various locations around it: one egg is centered on the table, another to the right of the table, and several others placed at different points around the edges, including the front, back, and sides."}
|
| 81 |
+
{"scene_index": 80, "scene": "The table is at the center, the plate is in front, the eggs are on the back right, back left, and right positions."}
|
| 82 |
+
{"scene_index": 81, "scene": "The table is at the center. The plate is in front, and the bowl is also in front but positioned differently. There are two eggs located at the back right, and the pork is placed at the front left."}
|
| 83 |
+
{"scene_index": 82, "scene": "The cake is on the left, another cake is on the right, the table is in the center, and the egg box is at the front."}
|
| 84 |
+
{"scene_index": 83, "scene": "The cake is positioned in the front of the scene, while multiple eggs are placed around it at various positions including center, front right, front, and back."}
|
| 85 |
+
{"scene_index": 84, "scene": "The bowl is positioned at front left, the plate at front right, and the table is centered between them."}
|
| 86 |
+
{"scene_index": 85, "scene": "The table is at the center. The two plates are in front and front-right positions. The egg is on the front-right plate. The pork prawns are to the right side. The bowl is placed in front of the table."}
|
| 87 |
+
{"scene_index": 86, "scene": "The table is at the center, with eggs positioned to the right, center, front right, front, front right again, and back right. There are also eggs in the front, back, and center positions, as well as cakes located at the front right and front."}
|
| 88 |
+
{"scene_index": 87, "scene": "The table is centered, with a bowl in front, an egg plate and an egg at the back, prawns located at the back right, front right, and left positions."}
|
| 89 |
+
{"scene_index": 88, "scene": "The table is at the center, and there are eggs placed in various positions around it, including the front, right, back right, back, and front right, with multiple eggs located in the center as well."}
|
| 90 |
+
{"scene_index": 89, "scene": "The egg box is at the front, while the potato is positioned at the back left."}
|
| 91 |
+
{"scene_index": 90, "scene": "The table is centered, with a plate in front, an egg on the right, another egg at the back-left, and a bowl also in front."}
|
| 92 |
+
{"scene_index": 91, "scene": "There is a table at the center and a cake at the front. Eggs are placed in various positions around them: two eggs on the right, one at the center, one at the front, one at the front-right, one at the back-right, and three more eggs positioned at the front, back, and back-right."}
|
| 93 |
+
{"scene_index": 92, "scene": "The bowl is located at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 94 |
+
{"scene_index": 93, "scene": "The cake is on the left, another cake is on the right, a table is at the center, and an egg box is in front."}
|
| 95 |
+
{"scene_index": 94, "scene": "The potato is located at the back left position, while the egg box is positioned in front."}
|
| 96 |
+
{"scene_index": 95, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 97 |
+
{"scene_index": 96, "scene": "The table is at the center, with a plate in front of it, an egg on its right side, another egg centered on the plate, and a bowl also in front."}
|
| 98 |
+
{"scene_index": 97, "scene": "The egg is at the center and in various other positions around the table; two cakes are located at the front and front right of the table; an egg carton is on the left side of the table."}
|
| 99 |
+
{"scene_index": 98, "scene": "The table is at the center, with a plate in front, two eggs on the back (one on the right and one on the left), another egg in the center, and a bowl also in front."}
|
| 100 |
+
{"scene_index": 99, "scene": "The table is at the center, and there are multiple eggs positioned around it: some on the right side, one in the front, a few in the center, two towards the front right, one at the back right, and another at the back."}
|
| 101 |
+
{"scene_index": 100, "scene": "The table is at the center, with a plate in front, bowls in front, and eggs positioned at the front left, back left, and back right."}
|
| 102 |
+
{"scene_index": 101, "scene": "The eggs are positioned in various locations around the table, including the center, right, front, back, and corners, while the cake is at the front."}
|
| 103 |
+
{"scene_index": 102, "scene": "The cake on the right is positioned to the right, the table at the center, another cake on the left, and the egg box is in front."}
|
| 104 |
+
{"scene_index": 103, "scene": "The cake is on the left side, another cake is on the right side, the table is at the center, and the egg box rack is in front."}
|
| 105 |
+
{"scene_index": 104, "scene": "The table is at the center with the bowl and plate positioned front, both slightly front and plate front right; the egg and prawns are on the right side; pork and noodles (possibly a typo for another item) are at the back."}
|
| 106 |
+
{"scene_index": 105, "scene": "The plate is at the front, and the table is centered."}
|
| 107 |
+
{"scene_index": 106, "scene": "The table is at the center, with an egg box in front of it. On either side of the table, there are cakes placed to the right and left positions respectively."}
|
| 108 |
+
{"scene_index": 107, "scene": "The egg is at the back right, the table is at the center, and both bowls are at the front."}
|
| 109 |
+
{"scene_index": 108, "scene": "The cake is on the left, another cake is on the right, the table is at the center, and the egg box is in front."}
|
| 110 |
+
{"scene_index": 109, "scene": "The table is at the center. The plate is at the front. One egg is at the back right, another at the center, and another at the back left. The bowl is also at the front."}
|
| 111 |
+
{"scene_index": 110, "scene": "The bowl is at the front left, the plate at front right, the table in the center, and the cake at back left."}
|
| 112 |
+
{"scene_index": 111, "scene": "The potato is located at the back left position, while the egg box is positioned at the front."}
|
| 113 |
+
{"scene_index": 112, "scene": "The cake on the left is positioned to the left, the cake on the right is positioned to the right, the table is centered, and the egg box is at the front."}
|
| 114 |
+
{"scene_index": 113, "scene": "The cake is on the right, the other cake is on the left, the table is in the center, and the egg box is at the front."}
|
| 115 |
+
{"scene_index": 114, "scene": "The plate is in front, the table is centered, the bowl is front, there are eggs at back right, back left, and right positions."}
|
| 116 |
+
{"scene_index": 115, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 117 |
+
{"scene_index": 116, "scene": "The potato is located at the back left position, while the egg box is positioned at the front."}
|
| 118 |
+
{"scene_index": 117, "scene": "The bowl is at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 119 |
+
{"scene_index": 118, "scene": "The egg box is at the front, while the potato is located at the back left."}
|
| 120 |
+
{"scene_index": 119, "scene": "The plate is in front, the table is at the center, the cake is in front, and there are two egg boxes both in front."}
|
| 121 |
+
{"scene_index": 120, "scene": "The bowl is at the front left, the plate is at the front right, and the table is in the center."}
|
| 122 |
+
{"scene_index": 121, "scene": "The table is at the center, with a cake on its right and another cake on its left. The egg box is in front of the table."}
|
| 123 |
+
{"scene_index": 122, "scene": "The plate is located at the front, while the table is centered."}
|
| 124 |
+
{"scene_index": 123, "scene": "The plate is located at the front, while the table is centered."}
|
| 125 |
+
{"scene_index": 124, "scene": "The egg box is positioned at the front, while the potato is located at the back left."}
|
| 126 |
+
{"scene_index": 125, "scene": "The egg box is at the front, while the potato is located at the back left."}
|
| 127 |
+
{"scene_index": 126, "scene": "The table is at the center, with a plate in front, an egg on the right, another egg in the center, and a bowl also in front."}
|
| 128 |
+
{"scene_index": 127, "scene": "The egg is located at the back right. The table is centered. The plate is at the front. Another egg is also at the back right. The bowl is positioned at the front."}
|
| 129 |
+
{"scene_index": 128, "scene": "The table is at the center, with a plate in front, another plate in front right alongside an egg, and a bowl in front."}
|
| 130 |
+
{"scene_index": 129, "scene": "The bowl is at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 131 |
+
{"scene_index": 130, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 132 |
+
{"scene_index": 131, "scene": "The table is at the center, with a bowl and plate both in front, while the egg is specifically placed in the front-right corner. Positioned at the back is the ns, and towards the right side are the prawns."}
|
| 133 |
+
{"scene_index": 132, "scene": "There are multiple eggs positioned in various locations around the center of a table, with some eggs placed on or near a cake located at the front and front-right positions, while an egg box is situated to the left."}
|
| 134 |
+
{"scene_index": 133, "scene": "The table is at the center, while the plate and bowl are both in front."}
|
| 135 |
+
{"scene_index": 134, "scene": "The table is at the center, with an egg also centered on it. The cake is in front of the table. There are multiple eggs positioned around the table, including one in front, two on the right side (one front right and one back right), and several others arranged towards the back, specifically two more at back right and two more at the back center."}
|
| 136 |
+
{"scene_index": 135, "scene": "The table is at the center, with a cake on the right and another cake on the left, while an egg box is in front."}
|
| 137 |
+
{"scene_index": 136, "scene": "The potato is located at the back left position, while the egg box is positioned at the front."}
|
| 138 |
+
{"scene_index": 137, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 139 |
+
{"scene_index": 138, "scene": "The table is at the center, with multiple eggs positioned around it including some at the front and back right. A cake is also located at the front."}
|
| 140 |
+
{"scene_index": 139, "scene": "The table is centered, while the plate is placed at the front."}
|
| 141 |
+
{"scene_index": 140, "scene": "The table is at the center. The plate is in front. Another plate with an egg is on the front-right. Pork prawns are on the right side, and pork is at the back along with other items, and a bowl is in front."}
|
| 142 |
+
{"scene_index": 141, "scene": "The bowl is at front left, the plate is at front right, the table is at center, the cake is at left."}
|
| 143 |
+
{"scene_index": 142, "scene": "egg is on the right. egg is in the center. table is in the center. egg is at the front-right. egg is at the back-right. egg is at the front. egg is in the center. egg is at the front-right. egg is at the back. egg is at the back. egg is at the back-right. egg is on the right. egg box is on the left. cake is at the front. egg is at the front. egg is in the center."}
|
| 144 |
+
{"scene_index": 143, "scene": "The cake on the right is at the right side, the table in the center is in the middle, the cake on the left is at the left side, and the egg box is at the front."}
|
| 145 |
+
{"scene_index": 144, "scene": "The table is in the center, the plate is at the front, the egg plate and egg are in the front right, the pork is at the back left, and the bowl is at the front."}
|
| 146 |
+
{"scene_index": 145, "scene": "The bowl is at front left, the plate at front right, the table in the center, and the cake at back left."}
|
| 147 |
+
{"scene_index": 146, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 148 |
+
{"scene_index": 147, "scene": "The plate is at the front, the table is at the center, and the cake is also at the front."}
|
| 149 |
+
{"scene_index": 148, "scene": "The table is centered, with a cake on its right side, another cake on its left side, and an egg wooden rack placed in front."}
|
| 150 |
+
{"scene_index": 149, "scene": "The cake is located at the front right of the table, which is also in the center. There are eggs positioned around the cake and the table, including one directly in the center, several to the right (including the front right), some towards the front, back, and back right positions."}
|
| 151 |
+
{"scene_index": 150, "scene": "The egg box is located at the front position."}
|
| 152 |
+
{"scene_index": 151, "scene": "The wooden rack is positioned on the left side of the scene. The table is centered, and the two cakes are located at the front. There are fourteen eggs placed in various positions around the setup, including multiple eggs in the center, several eggs towards the front, one egg near the back right, another near the back, and an additional egg positioned on the back side."}
|
| 153 |
+
{"scene_index": 152, "scene": "The table is at the center, with a bowl and plate in front of it, both located at the front right along with an egg placed there as well."}
|
| 154 |
+
{"scene_index": 153, "scene": "The table is at the center, with a plate in front, an egg in the back right, and another egg in the back left."}
|
| 155 |
+
{"scene_index": 154, "scene": "The egg is located at the back right. The table is in the center. The plate is at the front. The bowl is also at the front."}
|
| 156 |
+
{"scene_index": 155, "scene": "The egg is at the back right, the table is in the center, the plate is at the front, another egg is at the back left, and the bowl is at the front."}
|
| 157 |
+
{"scene_index": 156, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 158 |
+
{"scene_index": 157, "scene": "The cake is on the left, a table in the center, another cake on the right, an egg box at the front, and a wooden rack also at the front."}
|
| 159 |
+
{"scene_index": 158, "scene": "The scene depicts a table at the center with an egg, and various other eggs positioned around it, including front, front right, back right, back, left, right, and back again. Additionally, there is a cake located at the front."}
|
| 160 |
+
{"scene_index": 159, "scene": "The egg is positioned in the center, with another egg on the right, a table centered as well, and multiple eggs arranged around it including front, back, back right, and one more egg at the back."}
|
| 161 |
+
{"scene_index": 160, "scene": "The cake on the left and the cake on the right are positioned at opposite ends of the table centered in the scene."}
|
| 162 |
+
{"scene_index": 161, "scene": "The potato is located at the back left position, while the egg box is positioned in front."}
|
| 163 |
+
{"scene_index": 162, "scene": "The plate is at the front, the bowl is also at the front, the eggs are at the back right and back left, and the table holds all these objects at its center."}
|
| 164 |
+
{"scene_index": 163, "scene": "The table is positioned at the center, while the plate is placed at the front."}
|
| 165 |
+
{"scene_index": 164, "scene": "The bowl is at the front left, the plate is at the front right, and the table is in the center."}
|
| 166 |
+
{"scene_index": 165, "scene": "The bowl is positioned at front left, the plate at front right, the table in the center, and the cake is on the left."}
|
| 167 |
+
{"scene_index": 166, "scene": "The bowl is at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 168 |
+
{"scene_index": 167, "scene": "The bowl is at the front left, the plate at front right, the table in the center, and the cake at back left."}
|
| 169 |
+
{"scene_index": 168, "scene": "The plate is at the front, the cake is also at the front, and the table is in the center."}
|
| 170 |
+
{"scene_index": 169, "scene": "Bowl is at front left, plate is at front right, table is in the center, cake is on the left."}
|
| 171 |
+
{"scene_index": 170, "scene": "The bowl is front left, the plate is front right, the table is center, and the cake is back left."}
|
| 172 |
+
{"scene_index": 171, "scene": "The plate is in front, the table is at center, the egg on the back right and another egg on the back left are both eggs, with a third egg at center, and the bowl is also in front."}
|
| 173 |
+
{"scene_index": 172, "scene": "The table is at the center, the plate is in front, the egg is at the back right, and the bowl is in front."}
|
| 174 |
+
{"scene_index": 173, "scene": "The plate is at the front, and the table is at the center."}
|
| 175 |
+
{"scene_index": 174, "scene": "The table is centered, with a bowl at the front, and two eggs positioned at the back."}
|
| 176 |
+
{"scene_index": 175, "scene": "The plate is at the front, and the table is at the center."}
|
| 177 |
+
{"scene_index": 176, "scene": "The egg is at the back right, the table is centered, the plate is at the front, another egg is also at the back right, the pork is on the right, and the bowl is at the front."}
|
| 178 |
+
{"scene_index": 177, "scene": "The table is at the center, the cake is on the left, another cake is in the front-right, and the egg box is at the front."}
|
| 179 |
+
{"scene_index": 178, "scene": "The table is at the center, with a plate in front of it. On the right side is an egg, while there s another egg positioned at the back left. The bowl is also placed in front."}
|
| 180 |
+
{"scene_index": 179, "scene": "The table is at the center. There are multiple eggs placed around it in various positions: two eggs are on the right side (one near the top-right and one towards the front-right), three eggs are centered (front-center, middle-center, and back-center), four eggs are positioned towards the front (including one front-left and several front-right), and three eggs are at the back (spread across the left-back to center-back). The cake is located at the front-right position."}
|
| 181 |
+
{"scene_index": 180, "scene": "The plate is located at the front, while the table is centered."}
|
| 182 |
+
{"scene_index": 181, "scene": "The egg is located at the back right, the table is in the center, the plate is at the front, and the bowl is also at the front."}
|
| 183 |
+
{"scene_index": 182, "scene": "The table is centered, with a bowl at the front, a plate and an egg positioned in front right, and pork located on the right side."}
|
| 184 |
+
{"scene_index": 183, "scene": "The table is centered, the egg box is centered, the cake is placed at front and front right positions, and multiple eggs are positioned at various places including right, front right, center, front, back right, back, and back."}
|
| 185 |
+
{"scene_index": 184, "scene": "Bowl is at front left., Plate is at front right., Table is at center., Cake is at left."}
|
| 186 |
+
{"scene_index": 185, "scene": "The table is at the center. There are multiple eggs placed around it; most are centered, some are on the right, front, and back sides, with a few located towards the back right and front right positions. The cake is positioned in the front area."}
|
| 187 |
+
{"scene_index": 186, "scene": "The table is at the center, with multiple eggs scattered around it in various positions including front, back, left, and right, along with a cake located at the front right."}
|
| 188 |
+
{"scene_index": 187, "scene": "The table is at the center, the bowl is in front, and two eggs are both positioned at the back."}
|
| 189 |
+
{"scene_index": 188, "scene": "The potato is located at the back left, while the egg box is positioned in front."}
|
| 190 |
+
{"scene_index": 189, "scene": "The bowl is at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 191 |
+
{"scene_index": 190, "scene": "The potato is located at the back left position, while the egg box is positioned in front."}
|
| 192 |
+
{"scene_index": 191, "scene": "The potato is positioned at the back left, while the egg box is located at the front."}
|
| 193 |
+
{"scene_index": 192, "scene": "The plate is at the front, the table is at the center, and the egg is also at the front."}
|
| 194 |
+
{"scene_index": 193, "scene": "The egg box is positioned at the front, while the potato is located at the back left."}
|
| 195 |
+
{"scene_index": 194, "scene": "The table is at the center, with a bowl in front of it, an egg plate and an egg positioned behind it."}
|
| 196 |
+
{"scene_index": 195, "scene": "The table is at the center, with a plate in front and bowls on either side. Eggs are placed on the back left, back right, and front left positions."}
|
| 197 |
+
{"scene_index": 196, "scene": "The plate is in front, the table is at center, the egg is on the right, the egg is at back-left, the egg is at center, the bowl is in front."}
|
| 198 |
+
{"scene_index": 197, "scene": "The cake is on the right side, there is a table in the center, another cake is on the left, and an egg box is at the front."}
|
| 199 |
+
{"scene_index": 198, "scene": "The table is at the center, with eggs positioned to the right, center, front, front right, back right, and back, as well as multiple additional eggs clustered around the center. The cake is in front, specifically front right."}
|
| 200 |
+
{"scene_index": 199, "scene": "The table is at the center, with eggs positioned around it including the center, front, front-right, right, back, and back-right areas, along with a cake placed in the front."}
|
| 201 |
+
{"scene_index": 200, "scene": "The potato is located at the back left position, while the egg box is positioned in the front."}
|
| 202 |
+
{"scene_index": 201, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 203 |
+
{"scene_index": 202, "scene": "The table is centered, with a plate in front, a bowl also in front, pork positioned at the front left, and two eggs located at the back right."}
|
| 204 |
+
{"scene_index": 203, "scene": "The plate is at the front, the table is in the center, the right hand is in the front-right, and the cake is at the front."}
|
| 205 |
+
{"scene_index": 204, "scene": "The table is at the center, with a plate in front, a bowl also in front, an egg in the front left, another egg in the back right, and one more egg in the back left."}
|
| 206 |
+
{"scene_index": 205, "scene": "The table is centered. The bowl is in front, the egg plate and an egg are at the back, prawns are on the back right, prns are on the front right, and another set of prawns is on the left."}
|
| 207 |
+
{"scene_index": 206, "scene": "The egg is at the back right, the table is in the center, the plate and bowl are both at the front with the plate to the front left and the bowl also at the front."}
|
| 208 |
+
{"scene_index": 207, "scene": "The potato is at the back left, the egg box is at the front, and the table is in the center."}
|
| 209 |
+
{"scene_index": 208, "scene": "The table is centered, with a bowl in front at the center, and two eggs placed together in front-right."}
|
| 210 |
+
{"scene_index": 209, "scene": "The potato is located at the back left position, while the egg box is positioned in front."}
|
| 211 |
+
{"scene_index": 210, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 212 |
+
{"scene_index": 211, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 213 |
+
{"scene_index": 212, "scene": "The table is at the center, with a cake in front. Eggs are positioned throughout, including multiple eggs in the center and front areas, two eggs at the front, one egg at the front right, and others spread towards the back and right sides."}
|
| 214 |
+
{"scene_index": 213, "scene": "The plate is at the front, the table is at the center, the cake is at the front, and the egg box is at the front."}
|
| 215 |
+
{"scene_index": 214, "scene": "The table is at the center, with a cake on the left and another cake on the right. The egg box wooden rack is placed in front of the table."}
|
| 216 |
+
{"scene_index": 215, "scene": "The plate is at the front, and the table is at the center."}
|
| 217 |
+
{"scene_index": 216, "scene": "The cake is on the right, the table is at the center, the egg box is in front, and another cake is on the left."}
|
| 218 |
+
{"scene_index": 217, "scene": "The table is at the center, with a cake on its right and another cake on its left, while an egg box rack is positioned in front of it."}
|
| 219 |
+
{"scene_index": 218, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 220 |
+
{"scene_index": 219, "scene": "The egg is at the back right, the table is in the center, the plate is at the front, and the bowl is also at the front."}
|
| 221 |
+
{"scene_index": 220, "scene": "The potato is positioned at the back left, while the egg box is located at the front."}
|
| 222 |
+
{"scene_index": 221, "scene": "The egg box is at the front, while the potato is located at the back left position."}
|
| 223 |
+
{"scene_index": 222, "scene": "potato is located at the back left. egg box is positioned in front. table is placed at the center."}
|
| 224 |
+
{"scene_index": 223, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 225 |
+
{"scene_index": 224, "scene": "The egg box is at the front, and the table is at the center."}
|
| 226 |
+
{"scene_index": 225, "scene": "Plate is at the front, table is at the center, braised pork is at the back, and ice cream is on the right."}
|
| 227 |
+
{"scene_index": 226, "scene": "The table is centered, with a bowl at the front, an egg and egg plate at the back, and pork on the right."}
|
| 228 |
+
{"scene_index": 227, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 229 |
+
{"scene_index": 228, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 230 |
+
{"scene_index": 229, "scene": "The egg is at the back right, the table is at the center, the plate and bowl are both at the front."}
|
| 231 |
+
{"scene_index": 230, "scene": "The table is at the center, with a plate in front of it. The bowl is also in front, and there are two eggs positioned in the front right area."}
|
| 232 |
+
{"scene_index": 231, "scene": "The cake is on the right, the other cake is on the left, both are on a table in the center. The egg box rack is at the front."}
|
| 233 |
+
{"scene_index": 232, "scene": "The potato is located at the back left position, while the egg box is positioned at the front."}
|
| 234 |
+
{"scene_index": 233, "scene": "The table is at the center, and there are multiple eggs placed around it in various positions such as center, front, front right, back right, right, and back. Additionally, a cake is located at the front."}
|
| 235 |
+
{"scene_index": 234, "scene": "The plate is positioned at the front, while the table is located at the center."}
|
| 236 |
+
{"scene_index": 235, "scene": "On the table at the center, there is a cake and several eggs positioned in various locations: one egg is at the center, one on the right, multiple eggs are in front (some clustered around the center), and some eggs are towards the back."}
|
| 237 |
+
{"scene_index": 236, "scene": "The potato is at the back left, the egg box is in front, and the table is centered between them."}
|
| 238 |
+
{"scene_index": 237, "scene": "The plate is at the front, the table is centered, the egg on the back right and another egg in the center are both behind the bowl which is also at the front."}
|
| 239 |
+
{"scene_index": 238, "scene": "The bowl is located at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 240 |
+
{"scene_index": 239, "scene": "The table is at the center, with a plate in front, and a bowl also in front. An egg is positioned at the back right, another egg at the back left, and a third egg on the left."}
|
| 241 |
+
{"scene_index": 240, "scene": "The table is at the center. On its right side is an egg, on its left side are two eggs, one positioned to the front left and another in front of the plate, while a bowl is also located in front."}
|
| 242 |
+
{"scene_index": 241, "scene": "The potato is located at the back left, while the egg box is positioned in front."}
|
| 243 |
+
{"scene_index": 242, "scene": "The bowl is at front left, the table is centered, the plate is at front right, the cake is at back left."}
|
| 244 |
+
{"scene_index": 243, "scene": "The table is at the center, with a plate in front, a bowl in front, an egg on the back right, an egg on the back left, and an egg on the left."}
|
| 245 |
+
{"scene_index": 244, "scene": "Potato is located at the back left, egg box is positioned in front, and table is placed at the center."}
|
| 246 |
+
{"scene_index": 245, "scene": "The egg box is at the center. Eggs are located at positions: right (2), front (3), center (1), front right (5), back right (2), and back (4). The cake is at the front and front right positions."}
|
| 247 |
+
{"scene_index": 246, "scene": "The scene depicts a cake positioned at the front, with multiple eggs arranged around it in various positions including center, front right, right, back right, front, back, and one directly behind."}
|
| 248 |
+
{"scene_index": 247, "scene": "The egg is located at the back right position, the table is centered, the plate is at the front, and both the bowl and the plate are positioned in the front area."}
|
| 249 |
+
{"scene_index": 248, "scene": "The potato is at the back left, the egg box is in front, and the table is centered with all items placed on it."}
|
| 250 |
+
{"scene_index": 249, "scene": "The potato is positioned at the back left, while the egg box is located at the front."}
|
| 251 |
+
{"scene_index": 250, "scene": "The table is at the center, with a bowl in front, two eggs behind it, and prawns positioned at the back right."}
|
| 252 |
+
{"scene_index": 251, "scene": "The table is at the center, with a plate in front and three eggs positioned at the back (right and left) and center. A bowl is also placed in front on the table."}
|
| 253 |
+
{"scene_index": 252, "scene": "The bowl is in front left, the plate is front right, the table is center, the cake is back left, and the right side."}
|
| 254 |
+
{"scene_index": 253, "scene": "The table is at the center, with a bowl in front, a plate in front right, and an egg also in front right."}
|
| 255 |
+
{"scene_index": 254, "scene": "The potato is located at the back left, the egg box is in front, and the table is centered."}
|
| 256 |
+
{"scene_index": 255, "scene": "The table is at the center, with a plate in front of it. On the right side of the table is an egg, and there are two eggs positioned at the front left and front of the table as well as the bowl placed in front."}
|
| 257 |
+
{"scene_index": 256, "scene": "The bowl is at the front left, the plate is at the front right, and the table is in the center."}
|
| 258 |
+
{"scene_index": 257, "scene": "The table is at the center, and the plate is placed in front of it."}
|
| 259 |
+
{"scene_index": 258, "scene": "The bowl is located at front left, the plate is at front right, the table is in the center, and the cake is on the left."}
|
| 260 |
+
{"scene_index": 259, "scene": "The table is at the center, with the bowl in front, the egg in front right, and the plate also in front right."}
|
| 261 |
+
{"scene_index": 260, "scene": "The cake is on the left, the other cake is on the right, the table is in the center, and the egg box is at the front."}
|
| 262 |
+
{"scene_index": 261, "scene": "The egg box is at the front, the potato is in the back-left, and the table is centered."}
|
| 263 |
+
{"scene_index": 262, "scene": "The table is at the center, while eggs are placed in various positions around it including center, right, front, front right, back right, back, and front."}
|
| 264 |
+
{"scene_index": 263, "scene": "The potato is located at the back left position, while the egg box is situated at the front."}
|
| 265 |
+
{"scene_index": 264, "scene": "The table is at the center, with a plate in front, two eggs on the front right, pork prawns at the back right, and a bowl in front."}
|
| 266 |
+
{"scene_index": 265, "scene": "The egg is located at the back right, the table is in the center, the plate is at the front, and the bowl is also at the front."}
|
| 267 |
+
{"scene_index": 266, "scene": "The egg is located at the back right on the table, while the plate is positioned in front, along with the bowl also placed in front."}
|
| 268 |
+
{"scene_index": 267, "scene": "The bowl is positioned at front left, the plate at front right, the table in the center, and the cake is on the left."}
|
| 269 |
+
{"scene_index": 268, "scene": "The potato is positioned at the back left, while the egg box is located at the front."}
|
| 270 |
+
{"scene_index": 269, "scene": "The table is centered, while the plate is positioned at the front."}
|
| 271 |
+
{"scene_index": 270, "scene": "There are multiple eggs positioned around the table in various locations (right, center, back right, front, front right, back), with one egg box on the left and a cake at the front."}
|
| 272 |
+
{"scene_index": 271, "scene": "The plate is at the front, and the table is centered."}
|
| 273 |
+
{"scene_index": 272, "scene": "Bowl is at front left, plate is at front right, table is in the center, cake is on the left."}
|
| 274 |
+
{"scene_index": 273, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 275 |
+
{"scene_index": 274, "scene": "The potato is located at the back left, while the egg box is positioned in front."}
|
| 276 |
+
{"scene_index": 275, "scene": "The table is at the center. The plate is in front of it. The egg plate and egg are in the front right area. The bowl is also in front. The right hand is on the left side."}
|
| 277 |
+
{"scene_index": 276, "scene": "The table is at the center, with a plate in front of it, a cake on the right side and another cake in front."}
|
| 278 |
+
{"scene_index": 277, "scene": "The table is at the center, with a plate and bowl in front, an egg in the back right."}
|
| 279 |
+
{"scene_index": 278, "scene": "The potato is positioned at the back left, while the egg box is located at the front."}
|
| 280 |
+
{"scene_index": 279, "scene": "The table is at the center, with a bowl in front, an egg plate and egg behind it, prawns on the right, and another set of prawns in the front left."}
|
| 281 |
+
{"scene_index": 280, "scene": "The table is at the center, with a plate in front, two eggs positioned to the right and center, and a bowl also placed in front."}
|
| 282 |
+
{"scene_index": 281, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 283 |
+
{"scene_index": 282, "scene": "The potato is located at the back left, the egg box is in front, and the table is centered."}
|
| 284 |
+
{"scene_index": 283, "scene": "The bowl is positioned at front left, the plate at front right, the table at center, the cake at left, and the right is located at back right."}
|
| 285 |
+
{"scene_index": 284, "scene": "The cake on the right is positioned to the right, while the cake on the left is positioned to the left. The table is at the center, and the egg box is at the front."}
|
| 286 |
+
{"scene_index": 285, "scene": "The table is at the center, with a bowl in front of it, an egg and an egg plate positioned behind it, prawns placed to its right, and pork prawns situated on its left."}
|
| 287 |
+
{"scene_index": 286, "scene": "Bowl is at front left. Plate is at front right. Table is at center. Cake is at left."}
|
| 288 |
+
{"scene_index": 287, "scene": "The plate is at the front, the table is at the center, the pork is at the back right, and the cake is at the front."}
|
| 289 |
+
{"scene_index": 288, "scene": "The bowl is at front left, the plate is at front right, and the table is in the center."}
|
| 290 |
+
{"scene_index": 289, "scene": "The egg box is at the front, while the potato is located at the back left position."}
|
| 291 |
+
{"scene_index": 290, "scene": "The plate is in front. The table is at the center. The cake is in front. The right hand is at the front right. The egg box is in front."}
|
| 292 |
+
{"scene_index": 291, "scene": "The cake is on the right, The cake is on the left, The table is in the center, The cake is at the front-left, The egg box is at the front."}
|
| 293 |
+
{"scene_index": 292, "scene": "The potato is located at the back left position, while the egg box is positioned in the front."}
|
| 294 |
+
{"scene_index": 293, "scene": "The plate is at the front, the table is at the center, and the cake is also at the front."}
|
| 295 |
+
{"scene_index": 294, "scene": "The cake is on the right, the other cake is on the left, the table is in the center, and the egg box is at the front."}
|
| 296 |
+
{"scene_index": 295, "scene": "The table is at the center, with a plate in front, a bowl also in front but likely behind or near the plate, an egg on the back right, and another egg on the back left."}
|
| 297 |
+
{"scene_index": 296, "scene": "The table is at the center, with a plate and bowl positioned in front. On either side of the back area, there are eggs placed in the back right and back left positions."}
|
| 298 |
+
{"scene_index": 297, "scene": "The table is centered, with a plate in front, two eggs positioned at the back corners (right and left), one egg at the back center, and a bowl also placed in front."}
|
| 299 |
+
{"scene_index": 298, "scene": "The table is centered, cake on the right and cake on the left are placed beside each other, and a wooden rack is in front."}
|
| 300 |
+
{"scene_index": 299, "scene": "There is a table at the center with an egg on it. Eggs are also positioned in front, to the right, and at the back relative to the table."}
|
| 301 |
+
{"scene_index": 300, "scene": "The egg is at the back right, the table is in the center, the plate is at the front, and the bowl is also at the front."}
|
| 302 |
+
{"scene_index": 301, "scene": "The table is at the center, with a plate in front, an egg on the right, another egg behind and to the left, and a bowl also in front."}
|
| 303 |
+
{"scene_index": 302, "scene": "There are multiple eggs placed around a central table; the eggs are positioned at various locations relative to the table: center (5x), front (3x), right (2x), back (4x)."}
|
| 304 |
+
{"scene_index": 303, "scene": "Cake is on the right. Table is in the center. Cake is on the left. Egg box is at the front."}
|
| 305 |
+
{"scene_index": 304, "scene": "The table is at the center, with a plate in front, an egg and egg plate behind it, a bowl also in front, pork on the right."}
|
| 306 |
+
{"scene_index": 305, "scene": "The table is at the center, the cake on the right is next to the cake on the left, and the egg box is in front."}
|
| 307 |
+
{"scene_index": 306, "scene": "The egg box is positioned at the front."}
|
| 308 |
+
{"scene_index": 307, "scene": "The potato is located at the back left position, while the egg box is positioned in the front."}
|
| 309 |
+
{"scene_index": 308, "scene": "The table is centered, with a cake on the right and another cake on the left, while an egg box is positioned in front."}
|
| 310 |
+
{"scene_index": 309, "scene": "The table is at the center. There are eggs in various positions around it: one egg is at the center, two eggs are at front right (one overlapping the other), one egg is at front, one egg is at right, one egg is at back right, and another egg is also at back right but positioned differently. Additionally, there s a cake at the front."}
|
| 311 |
+
{"scene_index": 310, "scene": "The cake on the left is separate from the cake on the right, both placed on the table centered. The egg box and rack are positioned at the front."}
|
| 312 |
+
{"scene_index": 311, "scene": "The potato is at the back left, the egg box is in front, and the table is centered with all items placed on it."}
|
| 313 |
+
{"scene_index": 312, "scene": "The egg is at the back right of the table, while another egg is also at the back right. The plate and bowl are both in the front, with the plate at the center and the bowl at the front. The right hand is at the front left."}
|
| 314 |
+
{"scene_index": 313, "scene": "The table is at the center, with a plate in front, and eggs positioned at back right, back left, and center."}
|
| 315 |
+
{"scene_index": 314, "scene": "The potato is located at the back left position, while the egg box is positioned in the front."}
|
| 316 |
+
{"scene_index": 315, "scene": "The setup features multiple eggs and two cakes arranged around a central table. The eggs are positioned at various locations including center, right, front, back, and back right, while the cakes are placed in the front and front right positions."}
|
| 317 |
+
{"scene_index": 316, "scene": "The table is at the center, with a plate in front, and eggs positioned at the back right, back left, and center."}
|
| 318 |
+
{"scene_index": 317, "scene": "The table is at the center, with a plate in front, two eggs on either side (back right and back left), and a bowl also in front; there s another egg in the center."}
|
| 319 |
+
{"scene_index": 318, "scene": "The egg box is at the front, the potato is at the back left, and the table is in the center."}
|
| 320 |
+
{"scene_index": 319, "scene": "The cake on the right is opposite the cake on the left, both centered on the table; an egg box is in front of the table."}
|
| 321 |
+
{"scene_index": 320, "scene": "There are multiple eggs positioned at various locations (center, right, front, and back), with two eggs at the center, one egg on the right, four eggs in the front, and three eggs in the back. Additionally, there is a table located at the center."}
|
| 322 |
+
{"scene_index": 321, "scene": "Bowl is located at front left, plate is located at front right, table is in the center, and cake is positioned at back left."}
|
| 323 |
+
{"scene_index": 322, "scene": "The cake on the right is positioned to the right, the cake on the left is positioned to the left, the table is at the center, and the egg wooden rack is placed in front."}
|
| 324 |
+
{"scene_index": 323, "scene": "The cake is on the right side. The cake is on the left side. The table is in the center. The egg box is at the front."}
|
| 325 |
+
{"scene_index": 324, "scene": "The egg box is on the left, with eggs positioned at various locations around it including the center, front, right, back, and front right. The table is also centered, while the cake is in the front and front right areas."}
|
| 326 |
+
{"scene_index": 325, "scene": "The table is at the center; the plate is in front on the table; the egg plate and egg are in front right on the table; the bowl is in front on the table."}
|
| 327 |
+
{"scene_index": 326, "scene": "The bowl is at front left, the plate is at front right, the table is at center, and the cake is on the left."}
|
| 328 |
+
{"scene_index": 327, "scene": "The egg is at the center; the table is also at the center; the cake is in front; there are eggs in various positions including back right, center (multiple), front, right, front right (multiple), front, back, and back right; the egg box is on the left."}
|
| 329 |
+
{"scene_index": 328, "scene": "The objects are positioned as follows: the table is at center, with multiple eggs placed around it—specifically, one egg in the center (position: center), another in the center (position: center), and several others distributed across various positions including front, front right, back, back right, back left, and right. Additionally, there is a cake located at the front position."}
|
| 330 |
+
{"scene_index": 329, "scene": "The cake is on the left and another cake is on the right, both placed on a table centered. An egg box and a wooden rack are positioned at the front."}
|
| 331 |
+
{"scene_index": 330, "scene": "The table is at the center, the cake on the right, the egg box in front, and another cake on the left."}
|
| 332 |
+
{"scene_index": 331, "scene": "The plate is located at the front, while the table is centered."}
|
| 333 |
+
{"scene_index": 332, "scene": "The plate is located at the front, while the table is centered."}
|
| 334 |
+
{"scene_index": 333, "scene": "The plate is positioned at the front of the table, which is located at the center."}
|
| 335 |
+
{"scene_index": 334, "scene": "The plate is in front, the table is at the center, the eggs are positioned at back right, back left, and center."}
|
| 336 |
+
{"scene_index": 335, "scene": "The table is centered The eggs are positioned at the back right and back left The plate is in front The bowl is also in front The right hand is located at the front left"}
|
| 337 |
+
{"scene_index": 336, "scene": "The bowl is at the front left, the plate at front right, the table in the center, and the cake at back left."}
|
| 338 |
+
{"scene_index": 337, "scene": "The table is centered, with the cake positioned in front. Multiple eggs are placed around it at various positions including right, front right, front, back right, and back."}
|
| 339 |
+
{"scene_index": 338, "scene": "The cake is on the right side, the table is at the center, and the egg box wooden rack is positioned in the front."}
|
| 340 |
+
{"scene_index": 339, "scene": "The egg is at the back right of the table, the plate is in the front center, the bowl is in the front, and the right hand is at the front left."}
|
| 341 |
+
{"scene_index": 340, "scene": "The plate is positioned at the front, placed on the table located in the center. The pork is situated at the back, while the right hand rests in the front-right area."}
|
| 342 |
+
{"scene_index": 341, "scene": "The table is at the center, with a plate in front of it. There s another plate in the front-right, along with an egg placed next to it. A bowl is situated in front."}
|
| 343 |
+
{"scene_index": 342, "scene": "The egg is at the back right, the table is at the center, the plate and bowl are both at the front."}
|
| 344 |
+
{"scene_index": 343, "scene": "The bowl is front left, the plate is front right, the table is center, and the cake is back left."}
|
| 345 |
+
{"scene_index": 344, "scene": "The cake on the right is positioned to the right of the table at the center, which itself is to the left of another cake. The egg box is located in front of the setup."}
|
| 346 |
+
{"scene_index": 345, "scene": "The egg is at back right, table is at center, plate is at front, another egg is also at back right, pork is at front left, prawns are on the right, and bowl is at front."}
|
| 347 |
+
{"scene_index": 346, "scene": "The plate is at the front, the table is at the center, and there are eggs positioned at both the back left and back right."}
|
| 348 |
+
{"scene_index": 347, "scene": "The table is at the center, with eggs placed in various positions including the center, right, front, back, and front right, as well as a cake positioned at the front and front right."}
|
AIRBOT_MMK2_food_storage/annotations/subtask_annotations.jsonl
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"subtask_index": 0, "subtask": "Grasp the cake from the table and with the left gripper"}
|
| 2 |
+
{"subtask_index": 1, "subtask": "Place the shrimp into the plate with the right gripper"}
|
| 3 |
+
{"subtask_index": 2, "subtask": "Close the lid of the egg storage box with the left gripper"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Place the potato into the left compartment of the storage box with the left gripper"}
|
| 5 |
+
{"subtask_index": 4, "subtask": "Grasp the ice cream with the right gripper"}
|
| 6 |
+
{"subtask_index": 5, "subtask": "Place the braised pork in brown sauce into the plate with the left gripper"}
|
| 7 |
+
{"subtask_index": 6, "subtask": "Grasp the potato with the left gripper"}
|
| 8 |
+
{"subtask_index": 7, "subtask": "Place the cake into the bowl with the left gripper"}
|
| 9 |
+
{"subtask_index": 8, "subtask": "Place the egg into the egg storage box with the right gripper"}
|
| 10 |
+
{"subtask_index": 9, "subtask": "Grasp the egg with the left gripper"}
|
| 11 |
+
{"subtask_index": 10, "subtask": "Place the egg into the plate with the left gripper"}
|
| 12 |
+
{"subtask_index": 11, "subtask": "Grasp the egg with the right gripper"}
|
| 13 |
+
{"subtask_index": 12, "subtask": "Place the egg into the plate with the right gripper"}
|
| 14 |
+
{"subtask_index": 13, "subtask": "Place the cake onto the block toy with the left gripper"}
|
| 15 |
+
{"subtask_index": 14, "subtask": "Place the cake onto the block toy with the right gripper"}
|
| 16 |
+
{"subtask_index": 15, "subtask": "End"}
|
| 17 |
+
{"subtask_index": 16, "subtask": "Place the ice cream into the plate with the right gripper"}
|
| 18 |
+
{"subtask_index": 17, "subtask": "Grasp the cake from the table and with the right gripper"}
|
| 19 |
+
{"subtask_index": 18, "subtask": "Place the sponge on the table with the left gripper"}
|
| 20 |
+
{"subtask_index": 19, "subtask": "Grasp the braised pork in brown sauce with the left gripper"}
|
| 21 |
+
{"subtask_index": 20, "subtask": "Grasp the cake with the left gripper"}
|
| 22 |
+
{"subtask_index": 21, "subtask": "Static"}
|
| 23 |
+
{"subtask_index": 22, "subtask": "Grasp the sponge from the plate and with the left gripper"}
|
| 24 |
+
{"subtask_index": 23, "subtask": "Place the cake into the plate with the right gripper"}
|
| 25 |
+
{"subtask_index": 24, "subtask": "Abnormal"}
|
| 26 |
+
{"subtask_index": 25, "subtask": "Grasp the shrimp with the right gripper"}
|
| 27 |
+
{"subtask_index": 26, "subtask": "null"}
|
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