Copy R1_Lite_move_the_position_of_the_pen into RoboCOIN_useable
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- R1_Lite_move_the_position_of_the_pen/.gitattributes +59 -0
- R1_Lite_move_the_position_of_the_pen/README.md +694 -0
- R1_Lite_move_the_position_of_the_pen/annotations/eef_acc_mag_annotation.jsonl +3 -0
- R1_Lite_move_the_position_of_the_pen/annotations/eef_direction_annotation.jsonl +7 -0
- R1_Lite_move_the_position_of_the_pen/annotations/eef_velocity_annotation.jsonl +3 -0
- R1_Lite_move_the_position_of_the_pen/annotations/gripper_activity_annotation.jsonl +4 -0
- R1_Lite_move_the_position_of_the_pen/annotations/gripper_mode_annotation.jsonl +3 -0
- R1_Lite_move_the_position_of_the_pen/annotations/scene_annotations.jsonl +200 -0
- R1_Lite_move_the_position_of_the_pen/annotations/subtask_annotations.jsonl +8 -0
- R1_Lite_move_the_position_of_the_pen/annotations/subtasks.jsonl +8 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000000.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000001.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000002.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000003.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000004.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000005.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000006.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000007.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000008.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000009.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000010.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000011.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000012.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000013.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000014.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000015.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000016.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000017.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000018.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000019.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000020.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000021.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000022.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000023.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000024.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000025.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000026.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000027.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000028.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000029.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/data/chunk-000/episode_000030.parquet +3 -0
- R1_Lite_move_the_position_of_the_pen/meta/episodes.jsonl +31 -0
- R1_Lite_move_the_position_of_the_pen/meta/episodes_stats.jsonl +0 -0
- R1_Lite_move_the_position_of_the_pen/meta/info.json +1 -0
- R1_Lite_move_the_position_of_the_pen/meta/tasks.jsonl +1 -0
- R1_Lite_move_the_position_of_the_pen/videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 +3 -0
- R1_Lite_move_the_position_of_the_pen/videos/chunk-000/observation.images.cam_high_left_rgb/episode_000001.mp4 +3 -0
- R1_Lite_move_the_position_of_the_pen/videos/chunk-000/observation.images.cam_high_left_rgb/episode_000002.mp4 +3 -0
- R1_Lite_move_the_position_of_the_pen/videos/chunk-000/observation.images.cam_high_left_rgb/episode_000003.mp4 +3 -0
- R1_Lite_move_the_position_of_the_pen/videos/chunk-000/observation.images.cam_high_left_rgb/episode_000004.mp4 +3 -0
R1_Lite_move_the_position_of_the_pen/.gitattributes
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R1_Lite_move_the_position_of_the_pen/README.md
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|
| 1 |
+
---
|
| 2 |
+
task_categories:
|
| 3 |
+
- robotics
|
| 4 |
+
|
| 5 |
+
language:
|
| 6 |
+
- en
|
| 7 |
+
- zh
|
| 8 |
+
|
| 9 |
+
|
| 10 |
+
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.'
|
| 11 |
+
|
| 12 |
+
|
| 13 |
+
|
| 14 |
+
extra_gated_fields:
|
| 15 |
+
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: 'text'
|
| 18 |
+
description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
|
| 19 |
+
|
| 20 |
+
Country:
|
| 21 |
+
type: 'country'
|
| 22 |
+
description: 'e.g., "Germany", "China", "United States"'
|
| 23 |
+
|
| 24 |
+
|
| 25 |
+
|
| 26 |
+
tags:
|
| 27 |
+
- RoboCOIN
|
| 28 |
+
- LeRobot
|
| 29 |
+
|
| 30 |
+
frame_range: 10K-100K
|
| 31 |
+
|
| 32 |
+
license: apache-2.0
|
| 33 |
+
|
| 34 |
+
configs:
|
| 35 |
+
- config_name: default
|
| 36 |
+
data_files: data/*/*.parquet
|
| 37 |
+
---
|
| 38 |
+
|
| 39 |
+
# R1_Lite_move_the_position_of_the_pen
|
| 40 |
+
|
| 41 |
+
## 📋 Overview
|
| 42 |
+
|
| 43 |
+
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
|
| 44 |
+
|
| 45 |
+
**Robot Type:** `galaxea_r1_lite`
|
| 46 |
+
| **Codebase Version:** `v2.1`
|
| 47 |
+
**End-Effector Type:** `two_finger_gripper`
|
| 48 |
+
|
| 49 |
+
## 🏠 Scene Types
|
| 50 |
+
|
| 51 |
+
This dataset covers the following scene types:
|
| 52 |
+
- `office`
|
| 53 |
+
- `home`
|
| 54 |
+
|
| 55 |
+
|
| 56 |
+
## 🤖 Atomic Actions
|
| 57 |
+
|
| 58 |
+
This dataset includes the following atomic actions:
|
| 59 |
+
- `place`
|
| 60 |
+
- `pick`
|
| 61 |
+
- `grasp`
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
## 📊 Dataset Statistics
|
| 65 |
+
|
| 66 |
+
| Metric | Value |
|
| 67 |
+
|--------|-------|
|
| 68 |
+
| **Total Episodes** | 31 |
|
| 69 |
+
| **Total Frames** | 11495 |
|
| 70 |
+
| **Total Tasks** | 1 |
|
| 71 |
+
| **Total Videos** | 124 |
|
| 72 |
+
| **Total Chunks** | 1 |
|
| 73 |
+
| **Chunk Size** | 1000 |
|
| 74 |
+
| **FPS** | 30 |
|
| 75 |
+
| **Dataset Size** | 362.3MB |
|
| 76 |
+
|
| 77 |
+
|
| 78 |
+
## 👥 Authors
|
| 79 |
+
|
| 80 |
+
### Contributors
|
| 81 |
+
This dataset is contributed by:
|
| 82 |
+
- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
|
| 83 |
+
|
| 84 |
+
|
| 85 |
+
## 🔗 Links
|
| 86 |
+
|
| 87 |
+
- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 88 |
+
- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
|
| 89 |
+
- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
|
| 90 |
+
- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 91 |
+
- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
|
| 92 |
+
- **📜 License:** apache-2.0
|
| 93 |
+
|
| 94 |
+
## 🏷️ Dataset Tags
|
| 95 |
+
|
| 96 |
+
- `RoboCOIN`
|
| 97 |
+
- `LeRobot`
|
| 98 |
+
|
| 99 |
+
|
| 100 |
+
## 🎯 Task Descriptions
|
| 101 |
+
|
| 102 |
+
### Primary Tasks
|
| 103 |
+
put the pen in the designated position.
|
| 104 |
+
|
| 105 |
+
### Sub-Tasks
|
| 106 |
+
This dataset includes 8 distinct subtasks:
|
| 107 |
+
|
| 108 |
+
1. **End**
|
| 109 |
+
2. **Place the sign pen on the table with right gripper**
|
| 110 |
+
3. **Grasp the sign pen with left gripper**
|
| 111 |
+
4. **Place the sign pen on the table with left gripper**
|
| 112 |
+
5. **Grasp the sign pen with right gripper**
|
| 113 |
+
6. **Static**
|
| 114 |
+
7. **Abnormal**
|
| 115 |
+
8. **null**
|
| 116 |
+
|
| 117 |
+
|
| 118 |
+
## 🎥 Camera Views
|
| 119 |
+
|
| 120 |
+
This dataset includes 4 camera views.
|
| 121 |
+
|
| 122 |
+
## 🏷️ Available Annotations
|
| 123 |
+
|
| 124 |
+
This dataset includes rich annotations to support diverse learning approaches:
|
| 125 |
+
|
| 126 |
+
### Subtask Annotations
|
| 127 |
+
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
|
| 128 |
+
### Scene Annotations
|
| 129 |
+
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
|
| 130 |
+
### End-Effector Annotations
|
| 131 |
+
- **Direction**: Movement direction classifications for robot end-effectors
|
| 132 |
+
- **Velocity**: Velocity magnitude categorizations during manipulation
|
| 133 |
+
- **Acceleration**: Acceleration magnitude classifications for motion analysis
|
| 134 |
+
|
| 135 |
+
|
| 136 |
+
### Gripper Annotations
|
| 137 |
+
- **Gripper Mode**: Open/close state annotations for gripper control
|
| 138 |
+
- **Gripper Activity**: Activity state classifications (active/inactive)
|
| 139 |
+
|
| 140 |
+
|
| 141 |
+
### Additional Features
|
| 142 |
+
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
|
| 143 |
+
- Available for both state and action
|
| 144 |
+
- **Gripper Opening Scale**: Continuous gripper opening measurements
|
| 145 |
+
- Available for both state and action
|
| 146 |
+
|
| 147 |
+
|
| 148 |
+
## 📂 Data Splits
|
| 149 |
+
|
| 150 |
+
The dataset is organized into the following splits:
|
| 151 |
+
|
| 152 |
+
- **Training**: Episodes 0:30
|
| 153 |
+
|
| 154 |
+
|
| 155 |
+
## 📁 Dataset Structure
|
| 156 |
+
|
| 157 |
+
This dataset follows the LeRobot format and contains the following components:
|
| 158 |
+
|
| 159 |
+
### Data Files
|
| 160 |
+
- **Videos**: Compressed video files containing RGB camera observations
|
| 161 |
+
- **State Data**: Robot joint positions, velocities, and other state information
|
| 162 |
+
- **Action Data**: Robot action commands and trajectories
|
| 163 |
+
- **Metadata**: Episode metadata, timestamps, and annotations
|
| 164 |
+
|
| 165 |
+
### File Organization
|
| 166 |
+
- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| 167 |
+
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
|
| 168 |
+
- **Chunking**: Data is organized into 1 chunk(s)
|
| 169 |
+
of size 1000
|
| 170 |
+
|
| 171 |
+
|
| 172 |
+
### Features Schema
|
| 173 |
+
|
| 174 |
+
The dataset includes the following features:
|
| 175 |
+
|
| 176 |
+
#### Visual Observations
|
| 177 |
+
- **observation.images.cam_high_left_rgb**: video
|
| 178 |
+
- FPS: 30
|
| 179 |
+
- Codec: av1- **observation.images.cam_high_right_rgb**: video
|
| 180 |
+
- FPS: 30
|
| 181 |
+
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
|
| 182 |
+
- FPS: 30
|
| 183 |
+
- Codec: av1- **observation.images.cam_right_wrist_rgb**: video
|
| 184 |
+
- FPS: 30
|
| 185 |
+
- Codec: av1
|
| 186 |
+
|
| 187 |
+
#### State and Action- **observation.state**: float32- **action**: float32
|
| 188 |
+
|
| 189 |
+
#### Temporal Information
|
| 190 |
+
- **timestamp**: float32
|
| 191 |
+
- **frame_index**: int64
|
| 192 |
+
- **episode_index**: int64
|
| 193 |
+
- **index**: int64
|
| 194 |
+
- **task_index**: int64
|
| 195 |
+
|
| 196 |
+
|
| 197 |
+
#### Annotations
|
| 198 |
+
- **subtask_annotation**: int32
|
| 199 |
+
- **scene_annotation**: int32
|
| 200 |
+
|
| 201 |
+
|
| 202 |
+
#### Motion Features
|
| 203 |
+
- **eef_sim_pose_state**: float32
|
| 204 |
+
- 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
|
| 205 |
+
- **eef_sim_pose_action**: float32
|
| 206 |
+
- 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
|
| 207 |
+
- **eef_direction_state**: int32
|
| 208 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 209 |
+
- **eef_direction_action**: int32
|
| 210 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 211 |
+
- **eef_velocity_state**: int32
|
| 212 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 213 |
+
- **eef_velocity_action**: int32
|
| 214 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 215 |
+
- **eef_acc_mag_state**: int32
|
| 216 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 217 |
+
- **eef_acc_mag_action**: int32
|
| 218 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 219 |
+
|
| 220 |
+
|
| 221 |
+
#### Gripper Features
|
| 222 |
+
- **gripper_open_scale_state**: float32
|
| 223 |
+
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
|
| 224 |
+
- **gripper_open_scale_action**: float32
|
| 225 |
+
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
|
| 226 |
+
- **gripper_mode_state**: int32
|
| 227 |
+
- Dimensions: left_gripper_mode, right_gripper_mode
|
| 228 |
+
- **gripper_mode_action**: int32
|
| 229 |
+
- Dimensions: left_gripper_mode, right_gripper_mode
|
| 230 |
+
- **gripper_activity_state**: int32
|
| 231 |
+
- Dimensions: left_gripper_activity, right_gripper_activity
|
| 232 |
+
|
| 233 |
+
|
| 234 |
+
### Meta Information
|
| 235 |
+
|
| 236 |
+
The complete dataset metadata is available in [meta/info.json](meta/info.json):
|
| 237 |
+
|
| 238 |
+
```json
|
| 239 |
+
{
|
| 240 |
+
"codebase_version": "v2.1",
|
| 241 |
+
"robot_type": "galaxea_r1_lite",
|
| 242 |
+
"total_episodes": 31,
|
| 243 |
+
"total_frames": 11495,
|
| 244 |
+
"total_tasks": 1,
|
| 245 |
+
"total_videos": 124,
|
| 246 |
+
"total_chunks": 1,
|
| 247 |
+
"chunks_size": 1000,
|
| 248 |
+
"fps": 30,
|
| 249 |
+
"splits": {
|
| 250 |
+
"train": "0:30"
|
| 251 |
+
},
|
| 252 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 253 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 254 |
+
"features": {
|
| 255 |
+
"observation.images.cam_high_left_rgb": {
|
| 256 |
+
"dtype": "video",
|
| 257 |
+
"shape": [
|
| 258 |
+
720,
|
| 259 |
+
1280,
|
| 260 |
+
3
|
| 261 |
+
],
|
| 262 |
+
"names": [
|
| 263 |
+
"height",
|
| 264 |
+
"width",
|
| 265 |
+
"channels"
|
| 266 |
+
],
|
| 267 |
+
"info": {
|
| 268 |
+
"video.height": 720,
|
| 269 |
+
"video.width": 1280,
|
| 270 |
+
"video.codec": "av1",
|
| 271 |
+
"video.pix_fmt": "yuv420p",
|
| 272 |
+
"video.is_depth_map": false,
|
| 273 |
+
"video.fps": 30,
|
| 274 |
+
"video.channels": 3,
|
| 275 |
+
"has_audio": false
|
| 276 |
+
}
|
| 277 |
+
},
|
| 278 |
+
"observation.images.cam_high_right_rgb": {
|
| 279 |
+
"dtype": "video",
|
| 280 |
+
"shape": [
|
| 281 |
+
720,
|
| 282 |
+
1280,
|
| 283 |
+
3
|
| 284 |
+
],
|
| 285 |
+
"names": [
|
| 286 |
+
"height",
|
| 287 |
+
"width",
|
| 288 |
+
"channels"
|
| 289 |
+
],
|
| 290 |
+
"info": {
|
| 291 |
+
"video.height": 720,
|
| 292 |
+
"video.width": 1280,
|
| 293 |
+
"video.codec": "av1",
|
| 294 |
+
"video.pix_fmt": "yuv420p",
|
| 295 |
+
"video.is_depth_map": false,
|
| 296 |
+
"video.fps": 30,
|
| 297 |
+
"video.channels": 3,
|
| 298 |
+
"has_audio": false
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"observation.images.cam_left_wrist_rgb": {
|
| 302 |
+
"dtype": "video",
|
| 303 |
+
"shape": [
|
| 304 |
+
720,
|
| 305 |
+
1280,
|
| 306 |
+
3
|
| 307 |
+
],
|
| 308 |
+
"names": [
|
| 309 |
+
"height",
|
| 310 |
+
"width",
|
| 311 |
+
"channels"
|
| 312 |
+
],
|
| 313 |
+
"info": {
|
| 314 |
+
"video.height": 720,
|
| 315 |
+
"video.width": 1280,
|
| 316 |
+
"video.codec": "av1",
|
| 317 |
+
"video.pix_fmt": "yuv420p",
|
| 318 |
+
"video.is_depth_map": false,
|
| 319 |
+
"video.fps": 30,
|
| 320 |
+
"video.channels": 3,
|
| 321 |
+
"has_audio": false
|
| 322 |
+
}
|
| 323 |
+
},
|
| 324 |
+
"observation.images.cam_right_wrist_rgb": {
|
| 325 |
+
"dtype": "video",
|
| 326 |
+
"shape": [
|
| 327 |
+
720,
|
| 328 |
+
1280,
|
| 329 |
+
3
|
| 330 |
+
],
|
| 331 |
+
"names": [
|
| 332 |
+
"height",
|
| 333 |
+
"width",
|
| 334 |
+
"channels"
|
| 335 |
+
],
|
| 336 |
+
"info": {
|
| 337 |
+
"video.height": 720,
|
| 338 |
+
"video.width": 1280,
|
| 339 |
+
"video.codec": "av1",
|
| 340 |
+
"video.pix_fmt": "yuv420p",
|
| 341 |
+
"video.is_depth_map": false,
|
| 342 |
+
"video.fps": 30,
|
| 343 |
+
"video.channels": 3,
|
| 344 |
+
"has_audio": false
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"observation.state": {
|
| 348 |
+
"dtype": "float32",
|
| 349 |
+
"shape": [
|
| 350 |
+
16
|
| 351 |
+
],
|
| 352 |
+
"names": [
|
| 353 |
+
"left_arm_joint_1_rad",
|
| 354 |
+
"left_arm_joint_2_rad",
|
| 355 |
+
"left_arm_joint_3_rad",
|
| 356 |
+
"left_arm_joint_4_rad",
|
| 357 |
+
"left_arm_joint_5_rad",
|
| 358 |
+
"left_arm_joint_6_rad",
|
| 359 |
+
"left_arm_joint_7_rad",
|
| 360 |
+
"right_arm_joint_1_rad",
|
| 361 |
+
"right_arm_joint_2_rad",
|
| 362 |
+
"right_arm_joint_3_rad",
|
| 363 |
+
"right_arm_joint_4_rad",
|
| 364 |
+
"right_arm_joint_5_rad",
|
| 365 |
+
"right_arm_joint_6_rad",
|
| 366 |
+
"right_arm_joint_7_rad",
|
| 367 |
+
"left_gripper_open",
|
| 368 |
+
"right_gripper_open"
|
| 369 |
+
]
|
| 370 |
+
},
|
| 371 |
+
"action": {
|
| 372 |
+
"dtype": "float32",
|
| 373 |
+
"shape": [
|
| 374 |
+
18
|
| 375 |
+
],
|
| 376 |
+
"names": [
|
| 377 |
+
"left_arm_joint_1_rad",
|
| 378 |
+
"left_arm_joint_2_rad",
|
| 379 |
+
"left_arm_joint_3_rad",
|
| 380 |
+
"left_arm_joint_4_rad",
|
| 381 |
+
"left_arm_joint_5_rad",
|
| 382 |
+
"left_arm_joint_6_rad",
|
| 383 |
+
"left_arm_joint_7_rad",
|
| 384 |
+
"right_arm_joint_1_rad",
|
| 385 |
+
"right_arm_joint_2_rad",
|
| 386 |
+
"right_arm_joint_3_rad",
|
| 387 |
+
"right_arm_joint_4_rad",
|
| 388 |
+
"right_arm_joint_5_rad",
|
| 389 |
+
"right_arm_joint_6_rad",
|
| 390 |
+
"right_arm_joint_7_rad",
|
| 391 |
+
"left_gripper_open",
|
| 392 |
+
"right_gripper_open"
|
| 393 |
+
]
|
| 394 |
+
},
|
| 395 |
+
"timestamp": {
|
| 396 |
+
"dtype": "float32",
|
| 397 |
+
"shape": [
|
| 398 |
+
1
|
| 399 |
+
],
|
| 400 |
+
"names": null
|
| 401 |
+
},
|
| 402 |
+
"frame_index": {
|
| 403 |
+
"dtype": "int64",
|
| 404 |
+
"shape": [
|
| 405 |
+
1
|
| 406 |
+
],
|
| 407 |
+
"names": null
|
| 408 |
+
},
|
| 409 |
+
"episode_index": {
|
| 410 |
+
"dtype": "int64",
|
| 411 |
+
"shape": [
|
| 412 |
+
1
|
| 413 |
+
],
|
| 414 |
+
"names": null
|
| 415 |
+
},
|
| 416 |
+
"index": {
|
| 417 |
+
"dtype": "int64",
|
| 418 |
+
"shape": [
|
| 419 |
+
1
|
| 420 |
+
],
|
| 421 |
+
"names": null
|
| 422 |
+
},
|
| 423 |
+
"task_index": {
|
| 424 |
+
"dtype": "int64",
|
| 425 |
+
"shape": [
|
| 426 |
+
1
|
| 427 |
+
],
|
| 428 |
+
"names": null
|
| 429 |
+
},
|
| 430 |
+
"subtask_annotation": {
|
| 431 |
+
"names": null,
|
| 432 |
+
"dtype": "int32",
|
| 433 |
+
"shape": [
|
| 434 |
+
5
|
| 435 |
+
]
|
| 436 |
+
},
|
| 437 |
+
"scene_annotation": {
|
| 438 |
+
"names": null,
|
| 439 |
+
"dtype": "int32",
|
| 440 |
+
"shape": [
|
| 441 |
+
1
|
| 442 |
+
]
|
| 443 |
+
},
|
| 444 |
+
"eef_sim_pose_state": {
|
| 445 |
+
"names": [
|
| 446 |
+
"left_eef_pos_x",
|
| 447 |
+
"left_eef_pos_y",
|
| 448 |
+
"left_eef_pos_z",
|
| 449 |
+
"left_eef_ori_x",
|
| 450 |
+
"left_eef_ori_y",
|
| 451 |
+
"left_eef_ori_z",
|
| 452 |
+
"right_eef_pos_x",
|
| 453 |
+
"right_eef_pos_y",
|
| 454 |
+
"right_eef_pos_z",
|
| 455 |
+
"right_eef_ori_x",
|
| 456 |
+
"right_eef_ori_y",
|
| 457 |
+
"right_eef_ori_z"
|
| 458 |
+
],
|
| 459 |
+
"dtype": "float32",
|
| 460 |
+
"shape": [
|
| 461 |
+
12
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"eef_sim_pose_action": {
|
| 465 |
+
"names": [
|
| 466 |
+
"left_eef_pos_x",
|
| 467 |
+
"left_eef_pos_y",
|
| 468 |
+
"left_eef_pos_z",
|
| 469 |
+
"left_eef_ori_x",
|
| 470 |
+
"left_eef_ori_y",
|
| 471 |
+
"left_eef_ori_z",
|
| 472 |
+
"right_eef_pos_x",
|
| 473 |
+
"right_eef_pos_y",
|
| 474 |
+
"right_eef_pos_z",
|
| 475 |
+
"right_eef_ori_x",
|
| 476 |
+
"right_eef_ori_y",
|
| 477 |
+
"right_eef_ori_z"
|
| 478 |
+
],
|
| 479 |
+
"dtype": "float32",
|
| 480 |
+
"shape": [
|
| 481 |
+
12
|
| 482 |
+
]
|
| 483 |
+
},
|
| 484 |
+
"eef_direction_state": {
|
| 485 |
+
"names": [
|
| 486 |
+
"left_eef_direction",
|
| 487 |
+
"right_eef_direction"
|
| 488 |
+
],
|
| 489 |
+
"dtype": "int32",
|
| 490 |
+
"shape": [
|
| 491 |
+
2
|
| 492 |
+
]
|
| 493 |
+
},
|
| 494 |
+
"eef_direction_action": {
|
| 495 |
+
"names": [
|
| 496 |
+
"left_eef_direction",
|
| 497 |
+
"right_eef_direction"
|
| 498 |
+
],
|
| 499 |
+
"dtype": "int32",
|
| 500 |
+
"shape": [
|
| 501 |
+
2
|
| 502 |
+
]
|
| 503 |
+
},
|
| 504 |
+
"eef_velocity_state": {
|
| 505 |
+
"names": [
|
| 506 |
+
"left_eef_velocity",
|
| 507 |
+
"right_eef_velocity"
|
| 508 |
+
],
|
| 509 |
+
"dtype": "int32",
|
| 510 |
+
"shape": [
|
| 511 |
+
2
|
| 512 |
+
]
|
| 513 |
+
},
|
| 514 |
+
"eef_velocity_action": {
|
| 515 |
+
"names": [
|
| 516 |
+
"left_eef_velocity",
|
| 517 |
+
"right_eef_velocity"
|
| 518 |
+
],
|
| 519 |
+
"dtype": "int32",
|
| 520 |
+
"shape": [
|
| 521 |
+
2
|
| 522 |
+
]
|
| 523 |
+
},
|
| 524 |
+
"eef_acc_mag_state": {
|
| 525 |
+
"names": [
|
| 526 |
+
"left_eef_acc_mag",
|
| 527 |
+
"right_eef_acc_mag"
|
| 528 |
+
],
|
| 529 |
+
"dtype": "int32",
|
| 530 |
+
"shape": [
|
| 531 |
+
2
|
| 532 |
+
]
|
| 533 |
+
},
|
| 534 |
+
"eef_acc_mag_action": {
|
| 535 |
+
"names": [
|
| 536 |
+
"left_eef_acc_mag",
|
| 537 |
+
"right_eef_acc_mag"
|
| 538 |
+
],
|
| 539 |
+
"dtype": "int32",
|
| 540 |
+
"shape": [
|
| 541 |
+
2
|
| 542 |
+
]
|
| 543 |
+
},
|
| 544 |
+
"gripper_open_scale_state": {
|
| 545 |
+
"names": [
|
| 546 |
+
"left_gripper_open_scale",
|
| 547 |
+
"right_gripper_open_scale"
|
| 548 |
+
],
|
| 549 |
+
"dtype": "float32",
|
| 550 |
+
"shape": [
|
| 551 |
+
2
|
| 552 |
+
]
|
| 553 |
+
},
|
| 554 |
+
"gripper_open_scale_action": {
|
| 555 |
+
"names": [
|
| 556 |
+
"left_gripper_open_scale",
|
| 557 |
+
"right_gripper_open_scale"
|
| 558 |
+
],
|
| 559 |
+
"dtype": "float32",
|
| 560 |
+
"shape": [
|
| 561 |
+
2
|
| 562 |
+
]
|
| 563 |
+
},
|
| 564 |
+
"gripper_mode_state": {
|
| 565 |
+
"names": [
|
| 566 |
+
"left_gripper_mode",
|
| 567 |
+
"right_gripper_mode"
|
| 568 |
+
],
|
| 569 |
+
"dtype": "int32",
|
| 570 |
+
"shape": [
|
| 571 |
+
2
|
| 572 |
+
]
|
| 573 |
+
},
|
| 574 |
+
"gripper_mode_action": {
|
| 575 |
+
"names": [
|
| 576 |
+
"left_gripper_mode",
|
| 577 |
+
"right_gripper_mode"
|
| 578 |
+
],
|
| 579 |
+
"dtype": "int32",
|
| 580 |
+
"shape": [
|
| 581 |
+
2
|
| 582 |
+
]
|
| 583 |
+
},
|
| 584 |
+
"gripper_activity_state": {
|
| 585 |
+
"names": [
|
| 586 |
+
"left_gripper_activity",
|
| 587 |
+
"right_gripper_activity"
|
| 588 |
+
],
|
| 589 |
+
"dtype": "int32",
|
| 590 |
+
"shape": [
|
| 591 |
+
2
|
| 592 |
+
]
|
| 593 |
+
}
|
| 594 |
+
}
|
| 595 |
+
}
|
| 596 |
+
```
|
| 597 |
+
|
| 598 |
+
### Directory Structure
|
| 599 |
+
|
| 600 |
+
The dataset is organized as follows (showing leaf directories with first 5 files only):
|
| 601 |
+
|
| 602 |
+
```
|
| 603 |
+
R1_Lite_move_the_position_of_the_pen_qced_hardlink/
|
| 604 |
+
├── annotations/
|
| 605 |
+
│ ├── eef_acc_mag_annotation.jsonl
|
| 606 |
+
│ ├── eef_direction_annotation.jsonl
|
| 607 |
+
│ ├── eef_velocity_annotation.jsonl
|
| 608 |
+
│ ├── gripper_activity_annotation.jsonl
|
| 609 |
+
│ ├── gripper_mode_annotation.jsonl
|
| 610 |
+
│ └── (...)
|
| 611 |
+
├── data/
|
| 612 |
+
│ └── chunk-000/
|
| 613 |
+
│ ├── episode_000000.parquet
|
| 614 |
+
│ ├── episode_000001.parquet
|
| 615 |
+
│ ├── episode_000002.parquet
|
| 616 |
+
│ ├── episode_000003.parquet
|
| 617 |
+
│ ├── episode_000004.parquet
|
| 618 |
+
│ └── (...)
|
| 619 |
+
├── meta/
|
| 620 |
+
│ ├── episodes.jsonl
|
| 621 |
+
│ ├── episodes_stats.jsonl
|
| 622 |
+
│ ├── info.json
|
| 623 |
+
│ └── tasks.jsonl
|
| 624 |
+
└── videos/
|
| 625 |
+
└── chunk-000/
|
| 626 |
+
├── observation.images.cam_high_left_rgb/
|
| 627 |
+
│ ├── episode_000000.mp4
|
| 628 |
+
│ ├── episode_000001.mp4
|
| 629 |
+
│ ├── episode_000002.mp4
|
| 630 |
+
│ ├── episode_000003.mp4
|
| 631 |
+
│ ├── episode_000004.mp4
|
| 632 |
+
│ └── (...)
|
| 633 |
+
├── observation.images.cam_high_right_rgb/
|
| 634 |
+
│ ├── episode_000000.mp4
|
| 635 |
+
│ ├── episode_000001.mp4
|
| 636 |
+
│ ├── episode_000002.mp4
|
| 637 |
+
│ ├── episode_000003.mp4
|
| 638 |
+
│ ├── episode_000004.mp4
|
| 639 |
+
│ └── (...)
|
| 640 |
+
├── observation.images.cam_left_wrist_rgb/
|
| 641 |
+
│ ├── episode_000000.mp4
|
| 642 |
+
│ ├── episode_000001.mp4
|
| 643 |
+
│ ├── episode_000002.mp4
|
| 644 |
+
│ ├── episode_000003.mp4
|
| 645 |
+
│ ├── episode_000004.mp4
|
| 646 |
+
│ └── (...)
|
| 647 |
+
└── observation.images.cam_right_wrist_rgb/
|
| 648 |
+
├── episode_000000.mp4
|
| 649 |
+
├── episode_000001.mp4
|
| 650 |
+
├── episode_000002.mp4
|
| 651 |
+
├── episode_000003.mp4
|
| 652 |
+
├── episode_000004.mp4
|
| 653 |
+
└── (...)
|
| 654 |
+
```
|
| 655 |
+
|
| 656 |
+
|
| 657 |
+
## 📞 Contact and Support
|
| 658 |
+
|
| 659 |
+
For questions, issues, or feedback regarding this dataset, please contact:
|
| 660 |
+
- **Email:** None
|
| 661 |
+
For questions, issues, or feedback regarding this dataset, please contact us.
|
| 662 |
+
### Support
|
| 663 |
+
For technical support, please open an issue on our GitHub repository.
|
| 664 |
+
|
| 665 |
+
## 📄 License
|
| 666 |
+
|
| 667 |
+
This dataset is released under the **apache-2.0** license.
|
| 668 |
+
|
| 669 |
+
Please refer to the LICENSE file for full license terms and conditions.
|
| 670 |
+
|
| 671 |
+
|
| 672 |
+
## 📚 Citation
|
| 673 |
+
|
| 674 |
+
If you use this dataset in your research, please cite:
|
| 675 |
+
|
| 676 |
+
```bibtex
|
| 677 |
+
@article{robocoin,
|
| 678 |
+
title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
|
| 679 |
+
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},
|
| 680 |
+
journal={arXiv preprint arXiv:2511.17441},
|
| 681 |
+
url = {https://arxiv.org/abs/2511.17441},
|
| 682 |
+
year={2025}
|
| 683 |
+
}
|
| 684 |
+
```
|
| 685 |
+
|
| 686 |
+
### Additional References
|
| 687 |
+
|
| 688 |
+
If you use this dataset, please also consider citing:
|
| 689 |
+
- LeRobot Framework: https://github.com/huggingface/lerobot
|
| 690 |
+
|
| 691 |
+
## 📌 Version Information
|
| 692 |
+
|
| 693 |
+
## Version History
|
| 694 |
+
- v1.0.0 (2025-11): Initial release
|
R1_Lite_move_the_position_of_the_pen/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"}
|
R1_Lite_move_the_position_of_the_pen/annotations/eef_direction_annotation.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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"}
|
R1_Lite_move_the_position_of_the_pen/annotations/eef_velocity_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_velocity_index": 0, "eef_velocity": "still"}
|
| 2 |
+
{"eef_velocity_index": 1, "eef_velocity": "slow"}
|
| 3 |
+
{"eef_velocity_index": 2, "eef_velocity": "fast"}
|
R1_Lite_move_the_position_of_the_pen/annotations/gripper_activity_annotation.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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"}
|
R1_Lite_move_the_position_of_the_pen/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"}
|
R1_Lite_move_the_position_of_the_pen/annotations/scene_annotations.jsonl
ADDED
|
@@ -0,0 +1,200 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"scene_index": 0, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
|
| 2 |
+
{"scene_index": 1, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
|
| 3 |
+
{"scene_index": 2, "scene": "The white table and pen are both positioned at the back."}
|
| 4 |
+
{"scene_index": 3, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
|
| 5 |
+
{"scene_index": 4, "scene": "The white table is positioned at the back, while the two pens are located at the back right and back positions respectively."}
|
| 6 |
+
{"scene_index": 5, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 7 |
+
{"scene_index": 6, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 8 |
+
{"scene_index": 7, "scene": "The white table is positioned at the back, while the pen is located on the back left."}
|
| 9 |
+
{"scene_index": 8, "scene": "The white table is at the back, and two pens are located on its back left side."}
|
| 10 |
+
{"scene_index": 9, "scene": "The white table and pen are both positioned at the back."}
|
| 11 |
+
{"scene_index": 10, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 12 |
+
{"scene_index": 11, "scene": "The white table is at the back, a pen is on its right side, and another pen is also at the back."}
|
| 13 |
+
{"scene_index": 12, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 14 |
+
{"scene_index": 13, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 15 |
+
{"scene_index": 14, "scene": "The white table is positioned at the back, while the pen is located on the back left."}
|
| 16 |
+
{"scene_index": 15, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 17 |
+
{"scene_index": 16, "scene": "The white table is positioned at the back, while the pen is located at the center."}
|
| 18 |
+
{"scene_index": 17, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 19 |
+
{"scene_index": 18, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 20 |
+
{"scene_index": 19, "scene": "The white table is positioned at the back, as is the pen."}
|
| 21 |
+
{"scene_index": 20, "scene": "The white table is located at the back position."}
|
| 22 |
+
{"scene_index": 21, "scene": "The white table is positioned at the back, with two pens located on it—one placed at the back right side and the other simply at the back."}
|
| 23 |
+
{"scene_index": 22, "scene": "The white table is positioned at the back, while the pen is located at the back right corner of the table."}
|
| 24 |
+
{"scene_index": 23, "scene": "The white table is positioned at the back."}
|
| 25 |
+
{"scene_index": 24, "scene": "The white table is positioned at the back, while the pen is located on the back left."}
|
| 26 |
+
{"scene_index": 25, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 27 |
+
{"scene_index": 26, "scene": "The white table is positioned at the back, as is the pen."}
|
| 28 |
+
{"scene_index": 27, "scene": "The white table is positioned at the back, as is the pen."}
|
| 29 |
+
{"scene_index": 28, "scene": "The white table is located at the back, with two pens positioned on its back left side."}
|
| 30 |
+
{"scene_index": 29, "scene": "The white table is located at the back, while two pens are positioned on the back right side."}
|
| 31 |
+
{"scene_index": 30, "scene": "The white table is positioned at the back."}
|
| 32 |
+
{"scene_index": 31, "scene": "The white table is positioned at the back, while the pen is located on the back left."}
|
| 33 |
+
{"scene_index": 32, "scene": "The white table and pen are both positioned at the back."}
|
| 34 |
+
{"scene_index": 33, "scene": "The white table and pen are both positioned at the back."}
|
| 35 |
+
{"scene_index": 34, "scene": "The white table and pen are both positioned at the back."}
|
| 36 |
+
{"scene_index": 35, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 37 |
+
{"scene_index": 36, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 38 |
+
{"scene_index": 37, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 39 |
+
{"scene_index": 38, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 40 |
+
{"scene_index": 39, "scene": "The white table is positioned at the back, as is the pen."}
|
| 41 |
+
{"scene_index": 40, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 42 |
+
{"scene_index": 41, "scene": "The white table is positioned at the back."}
|
| 43 |
+
{"scene_index": 42, "scene": "The white table and pen are both positioned at the back."}
|
| 44 |
+
{"scene_index": 43, "scene": "The white table is located at the back position."}
|
| 45 |
+
{"scene_index": 44, "scene": "The white table and pen are both positioned at the back."}
|
| 46 |
+
{"scene_index": 45, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 47 |
+
{"scene_index": 46, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 48 |
+
{"scene_index": 47, "scene": "The white table is positioned at the back."}
|
| 49 |
+
{"scene_index": 48, "scene": "The white table is located at the back position."}
|
| 50 |
+
{"scene_index": 49, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 51 |
+
{"scene_index": 50, "scene": "The white table is positioned at the back, as is the pen."}
|
| 52 |
+
{"scene_index": 51, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
| 53 |
+
{"scene_index": 52, "scene": "The white table and pen are both positioned at the back."}
|
| 54 |
+
{"scene_index": 53, "scene": "The white table is positioned at the back, as is the pen."}
|
| 55 |
+
{"scene_index": 54, "scene": "The white table is positioned at the back, with two pens placed on it—one located at the back right side and the other simply at the back."}
|
| 56 |
+
{"scene_index": 55, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 57 |
+
{"scene_index": 56, "scene": "The white table is located at the back, while the pen is positioned on the back left side."}
|
| 58 |
+
{"scene_index": 57, "scene": "The white table is positioned at the back, sharing the same location as another white table also at the back. A pen is located at the back, and another pen is situated slightly to the right of the back position."}
|
| 59 |
+
{"scene_index": 58, "scene": "The white table is located at the back position."}
|
| 60 |
+
{"scene_index": 59, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 61 |
+
{"scene_index": 60, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 62 |
+
{"scene_index": 61, "scene": "The white table is positioned at the back."}
|
| 63 |
+
{"scene_index": 62, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
|
| 64 |
+
{"scene_index": 63, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
|
| 65 |
+
{"scene_index": 64, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 66 |
+
{"scene_index": 65, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
|
| 67 |
+
{"scene_index": 66, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 68 |
+
{"scene_index": 67, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
|
| 69 |
+
{"scene_index": 68, "scene": "The white table is located at the back, while the pen is positioned on the back left side."}
|
| 70 |
+
{"scene_index": 69, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 71 |
+
{"scene_index": 70, "scene": "The white table and pen are both positioned at the back."}
|
| 72 |
+
{"scene_index": 71, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 73 |
+
{"scene_index": 72, "scene": "The white table is positioned at the back, while the pen is located at the back right corner of the table."}
|
| 74 |
+
{"scene_index": 73, "scene": "The white table is located at the back position."}
|
| 75 |
+
{"scene_index": 74, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 76 |
+
{"scene_index": 75, "scene": "The white table is located at the back, while the pen is positioned on the back left side."}
|
| 77 |
+
{"scene_index": 76, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
|
| 78 |
+
{"scene_index": 77, "scene": "The white table is positioned at the back, while the pen is located at the back right corner of the table."}
|
| 79 |
+
{"scene_index": 78, "scene": "The white table is positioned at the back, with the pen placed on its back-left side."}
|
| 80 |
+
{"scene_index": 79, "scene": "The white table is positioned at the back, as is the pen."}
|
| 81 |
+
{"scene_index": 80, "scene": "The white table and pen are both positioned at the back."}
|
| 82 |
+
{"scene_index": 81, "scene": "The white table is at the back, two pens are located at the back (one on the left side)."}
|
| 83 |
+
{"scene_index": 82, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
| 84 |
+
{"scene_index": 83, "scene": "The white table is positioned at the back, as is the pen."}
|
| 85 |
+
{"scene_index": 84, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 86 |
+
{"scene_index": 85, "scene": "The white table is positioned at the back, two pens are located at the back with one pen additionally placed at the back right."}
|
| 87 |
+
{"scene_index": 86, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 88 |
+
{"scene_index": 87, "scene": "The white table is positioned at the back, with the pen placed on its back-left side."}
|
| 89 |
+
{"scene_index": 88, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 90 |
+
{"scene_index": 89, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 91 |
+
{"scene_index": 90, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 92 |
+
{"scene_index": 91, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 93 |
+
{"scene_index": 92, "scene": "The white table and pen are both positioned at the back."}
|
| 94 |
+
{"scene_index": 93, "scene": "The white table is positioned at the back, while the pen is located on the back left."}
|
| 95 |
+
{"scene_index": 94, "scene": "The white table is positioned at the back, as is the pen."}
|
| 96 |
+
{"scene_index": 95, "scene": "The white table is located at the back position."}
|
| 97 |
+
{"scene_index": 96, "scene": "The white table is positioned at the back, as is the pen."}
|
| 98 |
+
{"scene_index": 97, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 99 |
+
{"scene_index": 98, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 100 |
+
{"scene_index": 99, "scene": "The white table is positioned at the back, while two pens are placed on the back side—one on the back left and another also located at the back."}
|
| 101 |
+
{"scene_index": 100, "scene": "The white table is positioned at the back, with a pen placed at the back right and another pen located in the center."}
|
| 102 |
+
{"scene_index": 101, "scene": "The white table is positioned at the back, as is the pen."}
|
| 103 |
+
{"scene_index": 102, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
| 104 |
+
{"scene_index": 103, "scene": "The white table is positioned at the back."}
|
| 105 |
+
{"scene_index": 104, "scene": "The white table is positioned at the back."}
|
| 106 |
+
{"scene_index": 105, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 107 |
+
{"scene_index": 106, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
|
| 108 |
+
{"scene_index": 107, "scene": "The white table is located at the back position."}
|
| 109 |
+
{"scene_index": 108, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 110 |
+
{"scene_index": 109, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 111 |
+
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|
| 112 |
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{"scene_index": 111, "scene": "The white table is located at the back position."}
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| 113 |
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|
| 114 |
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| 117 |
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{"scene_index": 116, "scene": "The white table is positioned at the back."}
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| 118 |
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{"scene_index": 118, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 120 |
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|
| 121 |
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{"scene_index": 120, "scene": "The white table is positioned at the back, with two pens also placed at the back on or near it."}
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{"scene_index": 122, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
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{"scene_index": 123, "scene": "The white table is located at the back, while the pen is positioned on the back right side."}
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| 125 |
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{"scene_index": 124, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
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| 126 |
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{"scene_index": 125, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
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|
| 128 |
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{"scene_index": 127, "scene": "The white table is positioned at the back, as is the pen."}
|
| 129 |
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{"scene_index": 128, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 130 |
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|
| 131 |
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{"scene_index": 130, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
| 132 |
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{"scene_index": 131, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
| 133 |
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{"scene_index": 132, "scene": "The white table is positioned at the back, as is the pen."}
|
| 134 |
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{"scene_index": 133, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
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|
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{"scene_index": 135, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
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{"scene_index": 136, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
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|
| 139 |
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{"scene_index": 138, "scene": "The white table and pen are both positioned at the back."}
|
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{"scene_index": 139, "scene": "The white table is positioned at the back."}
|
| 141 |
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{"scene_index": 140, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 142 |
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{"scene_index": 141, "scene": "The white table is positioned at the back."}
|
| 143 |
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{"scene_index": 142, "scene": "The white table is positioned at the back, as is the pen."}
|
| 144 |
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{"scene_index": 143, "scene": "The white table and pen are both positioned at the back."}
|
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{"scene_index": 144, "scene": "The white table is at the back, two pens are located at the back with one on the left."}
|
| 146 |
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{"scene_index": 145, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 147 |
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|
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{"scene_index": 147, "scene": "The white table is positioned at the back, while the pen is located at the back right corner of the table."}
|
| 149 |
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{"scene_index": 149, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 151 |
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{"scene_index": 150, "scene": "The white table is positioned at the back, as is the pen."}
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{"scene_index": 151, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
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|
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|
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|
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{"scene_index": 157, "scene": "The white table is positioned at the back, while the pen is located on the back left side."}
|
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|
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{"scene_index": 162, "scene": "The white table is located at the back, and the pen is placed centrally on it."}
|
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{"scene_index": 163, "scene": "The white table is located at the back position."}
|
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|
| 166 |
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{"scene_index": 169, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
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{"scene_index": 170, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
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{"scene_index": 171, "scene": "The white table is positioned at the back, with the pen placed on its back-left side."}
|
| 173 |
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{"scene_index": 172, "scene": "The white table and pen are both positioned at the back."}
|
| 174 |
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{"scene_index": 173, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
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{"scene_index": 174, "scene": "The white table is positioned at the back, while the pen is located at the back left on the table."}
|
| 176 |
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{"scene_index": 175, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
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{"scene_index": 176, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
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{"scene_index": 177, "scene": "The white table is located at the back, with a pen placed on its back side, and another pen positioned at the back right."}
|
| 179 |
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{"scene_index": 178, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
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{"scene_index": 179, "scene": "The white table is positioned at the back, while the pen is located on the back left side of the table."}
|
| 181 |
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{"scene_index": 180, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 182 |
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{"scene_index": 181, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 183 |
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{"scene_index": 182, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating that both objects are situated in the same rear area."}
|
| 184 |
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{"scene_index": 183, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 185 |
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{"scene_index": 184, "scene": "The white table is located at the back, while the pen is situated at the back right position on it."}
|
| 186 |
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{"scene_index": 185, "scene": "The white table and pen are both positioned at the back."}
|
| 187 |
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{"scene_index": 186, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating both objects share the same positional relationship relative to that location."}
|
| 188 |
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{"scene_index": 187, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 189 |
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{"scene_index": 188, "scene": "The white table is located at the back, while the pen is positioned on the back left side."}
|
| 190 |
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{"scene_index": 189, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 191 |
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{"scene_index": 190, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 192 |
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{"scene_index": 191, "scene": "The white table is positioned at the back, as is the pen."}
|
| 193 |
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{"scene_index": 192, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 194 |
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{"scene_index": 193, "scene": "The white table is located at the back, while the pen is positioned at the back right on the table."}
|
| 195 |
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{"scene_index": 194, "scene": "The white table is located at the back, with a pen placed on its back left side and another pen positioned near the back."}
|
| 196 |
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{"scene_index": 195, "scene": "The white table is positioned at the back, and the pen is also located at the back, sharing the same positional relationship."}
|
| 197 |
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{"scene_index": 196, "scene": "The white table is positioned at the back, while the pen is located at the back right corner of the table."}
|
| 198 |
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{"scene_index": 197, "scene": "The white table is positioned at the back, with the pen also located at the back, indicating they share the same positional relationship."}
|
| 199 |
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{"scene_index": 198, "scene": "The white table is at the back, with two pens also positioned behind it."}
|
| 200 |
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{"scene_index": 199, "scene": "The white table and pen are both positioned at the back."}
|
R1_Lite_move_the_position_of_the_pen/annotations/subtask_annotations.jsonl
ADDED
|
@@ -0,0 +1,8 @@
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|
|
|
|
|
| 1 |
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{"subtask_index": 0, "subtask": "End"}
|
| 2 |
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{"subtask_index": 1, "subtask": "Place the sign pen on the table with right gripper"}
|
| 3 |
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{"subtask_index": 2, "subtask": "Grasp the sign pen with left gripper"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Place the sign pen on the table with left gripper"}
|
| 5 |
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{"subtask_index": 4, "subtask": "Grasp the sign pen with right gripper"}
|
| 6 |
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{"subtask_index": 5, "subtask": "Static"}
|
| 7 |
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{"subtask_index": 6, "subtask": "Abnormal"}
|
| 8 |
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{"subtask_index": 7, "subtask": "null"}
|
R1_Lite_move_the_position_of_the_pen/annotations/subtasks.jsonl
ADDED
|
@@ -0,0 +1,8 @@
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{"subtask_index": 0, "subtask": "Abnormal"}
|
| 2 |
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{"subtask_index": 1, "subtask": "Static"}
|
| 3 |
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{"subtask_index": 2, "subtask": "Grasp the sign pen with left gripper"}
|
| 4 |
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{"subtask_index": 3, "subtask": "Grasp the sign pen with right gripper"}
|
| 5 |
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{"subtask_index": 4, "subtask": "End"}
|
| 6 |
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{"subtask_index": 5, "subtask": "Place the sign pen on the table with left gripper"}
|
| 7 |
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{"subtask_index": 6, "subtask": "Place the sign pen on the table with right gripper"}
|
| 8 |
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{"subtask_index": 7, "subtask": "null"}
|
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