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Copy RMC-AIDA-L_fold_shorts into RoboCOIN_useable

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  1. RMC-AIDA-L_fold_shorts/.gitattributes +59 -0
  2. RMC-AIDA-L_fold_shorts/README.md +353 -0
  3. RMC-AIDA-L_fold_shorts/annotations/eef_acc_mag_annotation.jsonl +3 -0
  4. RMC-AIDA-L_fold_shorts/annotations/eef_direction_annotation.jsonl +7 -0
  5. RMC-AIDA-L_fold_shorts/annotations/eef_velocity_annotation.jsonl +3 -0
  6. RMC-AIDA-L_fold_shorts/annotations/gripper_activity_annotation.jsonl +4 -0
  7. RMC-AIDA-L_fold_shorts/annotations/gripper_mode_annotation.jsonl +3 -0
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RMC-AIDA-L_fold_shorts/.gitattributes ADDED
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+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.npy filter=lfs diff=lfs merge=lfs -text
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+ *.npz filter=lfs diff=lfs merge=lfs -text
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+ *.onnx filter=lfs diff=lfs merge=lfs -text
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+ *.ot filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pb filter=lfs diff=lfs merge=lfs -text
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+ *.pickle filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pt filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
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+ *.safetensors filter=lfs diff=lfs merge=lfs -text
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *.tar.* filter=lfs diff=lfs merge=lfs -text
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+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.tgz filter=lfs diff=lfs merge=lfs -text
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+ *.wasm filter=lfs diff=lfs merge=lfs -text
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+ *.xz filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.pcm filter=lfs diff=lfs merge=lfs -text
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+ *.sam filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - compressed
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+ *.aac filter=lfs diff=lfs merge=lfs -text
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+ *.flac filter=lfs diff=lfs merge=lfs -text
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+ *.mp3 filter=lfs diff=lfs merge=lfs -text
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+ *.ogg filter=lfs diff=lfs merge=lfs -text
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+ *.wav filter=lfs diff=lfs merge=lfs -text
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+ # Image files - uncompressed
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+ *.bmp filter=lfs diff=lfs merge=lfs -text
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+ *.gif filter=lfs diff=lfs merge=lfs -text
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+ *.png filter=lfs diff=lfs merge=lfs -text
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+ *.tiff filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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+ *.jpg filter=lfs diff=lfs merge=lfs -text
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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+ *.mp4 filter=lfs diff=lfs merge=lfs -text
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+ *.webm filter=lfs diff=lfs merge=lfs -text
RMC-AIDA-L_fold_shorts/README.md ADDED
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+ ---
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+ task_categories:
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+ - robotics
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+
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+ language:
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+ - en
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+ - zh
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+
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+
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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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+
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+
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+
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+ extra_gated_fields:
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+
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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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+
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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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+
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+
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+
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+ tags:
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+ - RoboCOIN
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+ - LeRobot
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+
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+ frame_range: 100K-1M
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+
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+ license: apache-2.0
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+
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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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+
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+ # RMC-AIDA-L_fold_shorts
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+
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+ ## 📋 Overview
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+
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+ This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
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+
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+ **Robot Type:** `realman_rmc_aidal`
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+ | **Codebase Version:** `v2.1`
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+ **End-Effector Type:** `two_finger_gripper`
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+
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+ ## 🏠 Scene Types
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+
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+ This dataset covers the following scene types:
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+ - `home`
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+
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+
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+ ## 🤖 Atomic Actions
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+
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+ This dataset includes the following atomic actions:
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+ - `grasp`
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+ - `pick`
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+ - `fold`
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+ - `place`
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+
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+
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+ ## 📊 Dataset Statistics
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+
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+ | Metric | Value |
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+ |--------|-------|
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+ | **Total Episodes** | 866 |
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+ | **Total Frames** | 730046 |
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+ | **Total Tasks** | 4 |
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+ | **Total Videos** | 2598 |
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+ | **Total Chunks** | 1 |
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+ | **Chunk Size** | 1000 |
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+ | **FPS** | 30 |
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+ | **Dataset Size** | 9.5GB |
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+
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+
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+ ## 👥 Authors
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+
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+ ### Contributors
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+ This dataset is contributed by:
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+ - [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
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+
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+
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+ ## 🔗 Links
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+
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+ - **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
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+ - **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
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+ - **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
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+ - **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
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+ - **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
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+ - **📜 License:** apache-2.0
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+
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+ ## 🏷️ Dataset Tags
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+
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+ - `RoboCOIN`
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+ - `LeRobot`
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+
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+
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+ ## 🎯 Task Descriptions
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+
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+ ### Primary Tasks
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+ the shorts is place with the front facing upwards, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.
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+ the shorts is place with the back facing up, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.
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+ the shorts is place with the front facing upwards, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle.
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+ the shorts is place with the back facing up, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle.
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+
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+ ### Sub-Tasks
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+ This dataset includes 29 distinct subtasks:
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+
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+ 1. **Grab the lower left pant leg with your left hand.**
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+ 2. **Grab the lower right pant leg with your right hand.**
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+ 3. **Fold the bottom of the shorts upward with right gripper**
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+ 4. **Fold the pants from right to left with the right gripper**
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+ 5. **Hold the waistband with your left hand.**
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+ 6. **Hold the lower right waistband with your right hand.**
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+ 7. **Grab the waistband with your right hand.**
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+ 8. **Fold to the right with your left hand.**
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+ 9. **Press the middle of the pants with your left hand.**
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+ 10. **Fold upward with your left hand.**
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+ 11. **Fold to the left with your right hand.**
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+ 12. **Hold the lower left waistband with your left hand.**
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+ 13. **Place the folded trousers onto the center area with the right grippers**
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+ 14. **Place the folded trousers onto the center area with right gripper**
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+ 15. **Place the folded trousers onto the center area with the left grippers**
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+ 16. **Grasp the right lower side of the waistband of the shorts with right gripper**
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+ 17. **end**
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+ 18. **Anomaly detected.**
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+ 19. **Grasp the lower left leg of the shorts with left gripper**
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+ 20. **Fold the shorts from right to left with right gripper**
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+ 21. **abnormal**
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+ 22. **Fold the pants from left to right with the left gripper**
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+ 23. **Fold the bottom of the shorts upward with left gripper**
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+ 24. **Fold the bottom of the pants upward with both grippers**
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+ 25. **Adjust the pants with your right hand.**
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+ 26. **Fold upward with your right hand.**
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+ 27. **Adjust the pants with your left hand.**
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+ 28. **Press the middle of the pants with your right hand.**
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+ 29. **null**
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+
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+
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+ ## 🎥 Camera Views
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+
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+ This dataset includes 3 camera views.
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+
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+ ## 🏷️ Available Annotations
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+
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+ This dataset includes rich annotations to support diverse learning approaches:
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+
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+ ### Subtask Annotations
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+ - **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
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+ ### Scene Annotations
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+ - **Scene-level Descriptions**: Semantic scene classifications and descriptions
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+ ### End-Effector Annotations
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+ - **Direction**: Movement direction classifications for robot end-effectors
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+ - **Velocity**: Velocity magnitude categorizations during manipulation
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+ - **Acceleration**: Acceleration magnitude classifications for motion analysis
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+
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+
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+ ### Gripper Annotations
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+ - **Gripper Mode**: Open/close state annotations for gripper control
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+ - **Gripper Activity**: Activity state classifications (active/inactive)
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+
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+
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+ ### Additional Features
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+ - **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
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+ - Available for both state and action
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+ - **Gripper Opening Scale**: Continuous gripper opening measurements
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+ - Available for both state and action
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+
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+
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+ ## 📂 Data Splits
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+
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+ The dataset is organized into the following splits:
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+
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+ - **Training**: Episodes 0:865
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+
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+
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+ ## 📁 Dataset Structure
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+
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+ This dataset follows the LeRobot format and contains the following components:
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+
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+ ### Data Files
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+ - **Videos**: Compressed video files containing RGB camera observations
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+ - **State Data**: Robot joint positions, velocities, and other state information
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+ - **Action Data**: Robot action commands and trajectories
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+ - **Metadata**: Episode metadata, timestamps, and annotations
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+
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+ ### File Organization
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+ - **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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+ - **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
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+ - **Chunking**: Data is organized into 1 chunk(s)
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+ of size 1000
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+
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+
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+ ### Features Schema
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+
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+ The dataset includes the following features:
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+
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+ #### Visual Observations
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+ - **observation.images.cam_high_rgb**: video
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+ - FPS: 30
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+ - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
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+ - FPS: 30
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+ - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
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+ - FPS: 30
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+ - Codec: av1
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+
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+ #### State and Action- **observation.state**: float32- **action**: float32
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+
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+ #### Temporal Information
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+ - **timestamp**: float32
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+ - **frame_index**: int64
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+ - **episode_index**: int64
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+ - **index**: int64
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+ - **task_index**: int64
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+
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+
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+ #### Annotations
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+ - **subtask_annotation**: int32
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+ - **scene_annotation**: int32
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+
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+
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+ #### Motion Features
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+ - **eef_sim_pose_state**: float32
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+ - 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
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+ - **eef_sim_pose_action**: float32
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+ - 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
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+ - **eef_direction_state**: int32
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+ - Dimensions: left_eef_direction, right_eef_direction
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+ - **eef_direction_action**: int32
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+ - Dimensions: left_eef_direction, right_eef_direction
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+ - **eef_velocity_state**: int32
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+ - Dimensions: left_eef_velocity, right_eef_velocity
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+ - **eef_velocity_action**: int32
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+ - Dimensions: left_eef_velocity, right_eef_velocity
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+ - **eef_acc_mag_state**: int32
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+ - Dimensions: left_eef_acc_mag, right_eef_acc_mag
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+ - **eef_acc_mag_action**: int32
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+ - Dimensions: left_eef_acc_mag, right_eef_acc_mag
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+
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+
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+ #### Gripper Features
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+ - **gripper_open_scale_state**: float32
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+ - Dimensions: left_gripper_open_scale, right_gripper_open_scale
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+ - **gripper_open_scale_action**: float32
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+ - Dimensions: left_gripper_open_scale, right_gripper_open_scale
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+ - **gripper_mode_state**: int32
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+ - Dimensions: left_gripper_mode, right_gripper_mode
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+ - **gripper_mode_action**: int32
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+ - Dimensions: left_gripper_mode, right_gripper_mode
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+ - **gripper_activity_state**: int32
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+ - Dimensions: left_gripper_activity, right_gripper_activity
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+
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+
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+ ### Meta Information
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+
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+ The complete dataset metadata is available in [meta/info.json](meta/info.json):
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+
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+ ```json
261
+ {"codebase_version": "v2.1", "robot_type": "realman_rmc_aidal", "total_episodes": 866, "total_frames": 730046, "total_tasks": 4, "total_videos": 2598, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:865"}, "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.state": {"dtype": "float32", "shape": [28], "names": ["right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [28], "names": ["right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_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]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
262
+ ```
263
+
264
+ ### Directory Structure
265
+
266
+ The dataset is organized as follows (showing leaf directories with first 5 files only):
267
+
268
+ ```
269
+ RMC-AIDA-L_fold_shorts_qced_hardlink/
270
+ ├── annotations/
271
+ │ ├── eef_acc_mag_annotation.jsonl
272
+ │ ├── eef_direction_annotation.jsonl
273
+ │ ├── eef_velocity_annotation.jsonl
274
+ │ ├── gripper_activity_annotation.jsonl
275
+ │ ├── gripper_mode_annotation.jsonl
276
+ │ └── (...)
277
+ ├── data/
278
+ │ └── chunk-000/
279
+ │ ├── episode_000000.parquet
280
+ │ ├── episode_000001.parquet
281
+ │ ├── episode_000002.parquet
282
+ │ ├── episode_000003.parquet
283
+ │ ├── episode_000004.parquet
284
+ │ └── (...)
285
+ ├── meta/
286
+ │ ├── episodes.jsonl
287
+ │ ├── episodes_stats.jsonl
288
+ │ ├── info.json
289
+ │ └── tasks.jsonl
290
+ └── videos/
291
+ └── chunk-000/
292
+ ├── observation.images.cam_high_rgb/
293
+ │ ├── episode_000000.mp4
294
+ │ ├── episode_000001.mp4
295
+ │ ├── episode_000002.mp4
296
+ │ ├── episode_000003.mp4
297
+ │ ├── episode_000004.mp4
298
+ │ └── (...)
299
+ ├── observation.images.cam_left_wrist_rgb/
300
+ │ ├── episode_000000.mp4
301
+ │ ├── episode_000001.mp4
302
+ │ ├── episode_000002.mp4
303
+ │ ├── episode_000003.mp4
304
+ │ ├── episode_000004.mp4
305
+ │ └── (...)
306
+ └── observation.images.cam_right_wrist_rgb/
307
+ ├── episode_000000.mp4
308
+ ├── episode_000001.mp4
309
+ ├── episode_000002.mp4
310
+ ├── episode_000003.mp4
311
+ ├── episode_000004.mp4
312
+ └── (...)
313
+ ```
314
+
315
+
316
+ ## 📞 Contact and Support
317
+
318
+ For questions, issues, or feedback regarding this dataset, please contact:
319
+ - **Email:** None
320
+ For questions, issues, or feedback regarding this dataset, please contact us.
321
+ ### Support
322
+ For technical support, please open an issue on our GitHub repository.
323
+
324
+ ## 📄 License
325
+
326
+ This dataset is released under the **apache-2.0** license.
327
+
328
+ Please refer to the LICENSE file for full license terms and conditions.
329
+
330
+
331
+ ## 📚 Citation
332
+
333
+ If you use this dataset in your research, please cite:
334
+
335
+ ```bibtex
336
+ @article{robocoin,
337
+ title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
338
+ 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},
339
+ journal={arXiv preprint arXiv:2511.17441},
340
+ url = {https://arxiv.org/abs/2511.17441},
341
+ year={2025}
342
+ }
343
+ ```
344
+
345
+ ### Additional References
346
+
347
+ If you use this dataset, please also consider citing:
348
+ - LeRobot Framework: https://github.com/huggingface/lerobot
349
+
350
+ ## 📌 Version Information
351
+
352
+ ## Version History
353
+ - v1.0.0 (2025-11): Initial release
RMC-AIDA-L_fold_shorts/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"}
RMC-AIDA-L_fold_shorts/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"}
RMC-AIDA-L_fold_shorts/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"}
RMC-AIDA-L_fold_shorts/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"}
RMC-AIDA-L_fold_shorts/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"}
RMC-AIDA-L_fold_shorts/annotations/scene_annotations.jsonl ADDED
@@ -0,0 +1,875 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"scene_index": 0, "scene": "The shorts are located at the back position."}
2
+ {"scene_index": 1, "scene": "The shorts are positioned at the back."}
3
+ {"scene_index": 2, "scene": "The shorts are positioned at the back."}
4
+ {"scene_index": 3, "scene": "The shorts are located at the back position."}
5
+ {"scene_index": 4, "scene": "The shorts are located at the back position."}
6
+ {"scene_index": 5, "scene": "The shorts are positioned at the back."}
7
+ {"scene_index": 6, "scene": "The shorts are located at the back position."}
8
+ {"scene_index": 7, "scene": "The shorts are positioned at the back."}
9
+ {"scene_index": 8, "scene": "The shorts are positioned at the center."}
10
+ {"scene_index": 9, "scene": "The shorts are positioned at the center."}
11
+ {"scene_index": 10, "scene": "The shorts are positioned at the back."}
12
+ {"scene_index": 11, "scene": "The shorts are located at the back position."}
13
+ {"scene_index": 12, "scene": "The shorts are located at the back position."}
14
+ {"scene_index": 13, "scene": "The shorts are positioned at the back."}
15
+ {"scene_index": 14, "scene": "The shorts are positioned at the back."}
16
+ {"scene_index": 15, "scene": "The shorts are positioned at the back."}
17
+ {"scene_index": 16, "scene": "The shorts are centered in their position."}
18
+ {"scene_index": 17, "scene": "The shorts are located at the back position."}
19
+ {"scene_index": 18, "scene": "The shorts are positioned at the back."}
20
+ {"scene_index": 19, "scene": "The shorts are positioned at the center."}
21
+ {"scene_index": 20, "scene": "The shorts are placed at the center."}
22
+ {"scene_index": 21, "scene": "The shorts are positioned at the back."}
23
+ {"scene_index": 22, "scene": "The shorts are positioned at the back."}
24
+ {"scene_index": 23, "scene": "The shorts are positioned at the center."}
25
+ {"scene_index": 24, "scene": "The shorts are located at the back position."}
26
+ {"scene_index": 25, "scene": "The shorts are located at the back position."}
27
+ {"scene_index": 26, "scene": "The shorts are positioned at the back."}
28
+ {"scene_index": 27, "scene": "The shorts are positioned at the center."}
29
+ {"scene_index": 28, "scene": "The shorts are located at the back position."}
30
+ {"scene_index": 29, "scene": "The shorts are positioned at the back."}
31
+ {"scene_index": 30, "scene": "The shorts are centered in their position."}
32
+ {"scene_index": 31, "scene": "The shorts are positioned at the center."}
33
+ {"scene_index": 32, "scene": "The shorts are placed at the center."}
34
+ {"scene_index": 33, "scene": "The shorts are positioned at the back."}
35
+ {"scene_index": 34, "scene": "The shorts are positioned at the back."}
36
+ {"scene_index": 35, "scene": "The shorts are positioned at the center."}
37
+ {"scene_index": 36, "scene": "The shorts are positioned at the center."}
38
+ {"scene_index": 37, "scene": "The shorts are positioned at the back."}
39
+ {"scene_index": 38, "scene": "The shorts are located at the back position."}
40
+ {"scene_index": 39, "scene": "The shorts are positioned at the back."}
41
+ {"scene_index": 40, "scene": "The shorts are positioned at the back."}
42
+ {"scene_index": 41, "scene": "The shorts are positioned at the back."}
43
+ {"scene_index": 42, "scene": "The shorts are positioned at the back."}
44
+ {"scene_index": 43, "scene": "The shorts are positioned at the back."}
45
+ {"scene_index": 44, "scene": "The shorts are positioned at the back."}
46
+ {"scene_index": 45, "scene": "The shorts are positioned at the back."}
47
+ {"scene_index": 46, "scene": "The shorts are placed at the center."}
48
+ {"scene_index": 47, "scene": "The shorts are located at the back position."}
49
+ {"scene_index": 48, "scene": "The shorts are positioned at the center."}
50
+ {"scene_index": 49, "scene": "The shorts are positioned at the back."}
51
+ {"scene_index": 50, "scene": "The shorts are positioned at the back."}
52
+ {"scene_index": 51, "scene": "The shorts are located at the back position."}
53
+ {"scene_index": 52, "scene": "The shorts are positioned at the back."}
54
+ {"scene_index": 53, "scene": "The shorts are located at the back position."}
55
+ {"scene_index": 54, "scene": "The shorts are positioned at the back."}
56
+ {"scene_index": 55, "scene": "The shorts are positioned at the center."}
57
+ {"scene_index": 56, "scene": "The shorts are located at the back position."}
58
+ {"scene_index": 57, "scene": "The shorts are positioned at the center."}
59
+ {"scene_index": 58, "scene": "The shorts are located at the back position."}
60
+ {"scene_index": 59, "scene": "The shorts are centered in their position."}
61
+ {"scene_index": 60, "scene": "The shorts are positioned at the center."}
62
+ {"scene_index": 61, "scene": "The shorts are positioned at the back."}
63
+ {"scene_index": 62, "scene": "The shorts are located at the back position."}
64
+ {"scene_index": 63, "scene": "The shorts are located at the back position."}
65
+ {"scene_index": 64, "scene": "The shorts are placed at the center."}
66
+ {"scene_index": 65, "scene": "The shorts are located at the back position."}
67
+ {"scene_index": 66, "scene": "The shorts are positioned at the back."}
68
+ {"scene_index": 67, "scene": "The shorts are located at the back position."}
69
+ {"scene_index": 68, "scene": "The shorts are located at the back position."}
70
+ {"scene_index": 69, "scene": "The shorts are positioned at the back."}
71
+ {"scene_index": 70, "scene": "The shorts are located at the back position."}
72
+ {"scene_index": 71, "scene": "The shorts are positioned at the center."}
73
+ {"scene_index": 72, "scene": "The shorts are positioned at the back."}
74
+ {"scene_index": 73, "scene": "The shorts are positioned at the back."}
75
+ {"scene_index": 74, "scene": "The shorts are positioned at the back."}
76
+ {"scene_index": 75, "scene": "The shorts are located at the back position."}
77
+ {"scene_index": 76, "scene": "The shorts are located at the back position."}
78
+ {"scene_index": 77, "scene": "The shorts are located at the back position."}
79
+ {"scene_index": 78, "scene": "The shorts are positioned at the back."}
80
+ {"scene_index": 79, "scene": "The shorts are positioned at the back."}
81
+ {"scene_index": 80, "scene": "The shorts are positioned at the back."}
82
+ {"scene_index": 81, "scene": "The shorts are positioned at the center."}
83
+ {"scene_index": 82, "scene": "The shorts are located at the back position."}
84
+ {"scene_index": 83, "scene": "The shorts are positioned at the back."}
85
+ {"scene_index": 84, "scene": "The shorts are positioned at the back."}
86
+ {"scene_index": 85, "scene": "The shorts are positioned at the center."}
87
+ {"scene_index": 86, "scene": "The shorts are positioned at the center."}
88
+ {"scene_index": 87, "scene": "The shorts are positioned at the center."}
89
+ {"scene_index": 88, "scene": "The shorts are positioned at the back."}
90
+ {"scene_index": 89, "scene": "The shorts are positioned at the center."}
91
+ {"scene_index": 90, "scene": "The shorts are positioned at the back."}
92
+ {"scene_index": 91, "scene": "The shorts are positioned at the center."}
93
+ {"scene_index": 92, "scene": "The shorts are positioned at the center."}
94
+ {"scene_index": 93, "scene": "The shorts are located at the back position."}
95
+ {"scene_index": 94, "scene": "The shorts are positioned at the center."}
96
+ {"scene_index": 95, "scene": "The shorts are positioned at the back."}
97
+ {"scene_index": 96, "scene": "The shorts are positioned at the back."}
98
+ {"scene_index": 97, "scene": "The shorts are positioned at the back."}
99
+ {"scene_index": 98, "scene": "The shorts are positioned at the back."}
100
+ {"scene_index": 99, "scene": "The shorts are positioned at the back."}
101
+ {"scene_index": 100, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 102, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 103, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 104, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 105, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 106, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 107, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 108, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 109, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 110, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 111, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 112, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 113, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 114, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 115, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 116, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 117, "scene": "The shorts are positioned at the back right location."}
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+ {"scene_index": 118, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 119, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 120, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 121, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 122, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 123, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 124, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 125, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 126, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 127, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 128, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 129, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 130, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 131, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 132, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 133, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 134, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 135, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 136, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 137, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 138, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 139, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 140, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 141, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 142, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 143, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 144, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 145, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 146, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 147, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 148, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 149, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 150, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 151, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 152, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 153, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 154, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 155, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 156, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 157, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 158, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 159, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 160, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 162, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 164, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 165, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 166, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 167, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 168, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 169, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 170, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 171, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 172, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 173, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 174, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 175, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 176, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 177, "scene": "The shorts are located at the back left position."}
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+ {"scene_index": 178, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 179, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 180, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 181, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 182, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 183, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 185, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 186, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 187, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 188, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 189, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 190, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 191, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 192, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 193, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 194, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 195, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 196, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 197, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 198, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 199, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 200, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 201, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 202, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 203, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 204, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 205, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 206, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 207, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 208, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 209, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 210, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 211, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 212, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 213, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 214, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 215, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 216, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 217, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 218, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 219, "scene": "Each pair of shorts is positioned at the back."}
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+ {"scene_index": 220, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 221, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 222, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 223, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 224, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 225, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 226, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 227, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 228, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 229, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 230, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 231, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 232, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 233, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 234, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 235, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 236, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 237, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 238, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 239, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 240, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 241, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 242, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 243, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 244, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 245, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 246, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 247, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 248, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 249, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 250, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 251, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 252, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 253, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 254, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 255, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 256, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 257, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 258, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 259, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 272, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 273, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 274, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 275, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 276, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 278, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 279, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 283, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 284, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 285, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 286, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 287, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 288, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 290, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 291, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 292, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 294, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 295, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 296, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 297, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 298, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 299, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 300, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 301, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 302, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 303, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 304, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 305, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 306, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 307, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 314, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 315, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 316, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 317, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 318, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 329, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 331, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 332, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 333, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 334, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 335, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 337, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 339, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 340, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 358, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 383, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 404, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 405, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 717, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 718, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 719, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 720, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 721, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 722, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 723, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 724, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 725, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 726, "scene": "The shorts are positioned at the back."}
728
+ {"scene_index": 727, "scene": "The shorts are located at the back position."}
729
+ {"scene_index": 728, "scene": "The shorts are positioned at the back."}
730
+ {"scene_index": 729, "scene": "The shorts are placed at the center."}
731
+ {"scene_index": 730, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 731, "scene": "The shorts are positioned at the center."}
733
+ {"scene_index": 732, "scene": "The shorts are positioned at the center."}
734
+ {"scene_index": 733, "scene": "The shorts are located at the back left position."}
735
+ {"scene_index": 734, "scene": "The shorts are positioned at the back."}
736
+ {"scene_index": 735, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 736, "scene": "The shorts are positioned at the center, with two additional pairs placed behind them also centered."}
738
+ {"scene_index": 737, "scene": "The shorts are positioned at the back."}
739
+ {"scene_index": 738, "scene": "The shorts are positioned at the back."}
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741
+ {"scene_index": 740, "scene": "The shorts are positioned at the back."}
742
+ {"scene_index": 741, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 744, "scene": "The shorts are positioned at the back."}
746
+ {"scene_index": 745, "scene": "The shorts are centered in their position."}
747
+ {"scene_index": 746, "scene": "The shorts are located at the back position."}
748
+ {"scene_index": 747, "scene": "The shorts are positioned at the back."}
749
+ {"scene_index": 748, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 750, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 752, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 753, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 755, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 759, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 761, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 762, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 763, "scene": "The shorts are positioned at the center."}
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+ {"scene_index": 764, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 786, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 787, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 800, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 801, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 802, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 803, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 804, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 805, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 806, "scene": "The shorts are centered in their position."}
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+ {"scene_index": 807, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 809, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 810, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 811, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 813, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 814, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 815, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 820, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 822, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 826, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 827, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 828, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 830, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 831, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 833, "scene": "The shorts are positioned at the back."}
835
+ {"scene_index": 834, "scene": "The shorts are positioned at the back."}
836
+ {"scene_index": 835, "scene": "The two shorts are both positioned at the center."}
837
+ {"scene_index": 836, "scene": "The shorts are positioned at the back."}
838
+ {"scene_index": 837, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 838, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 841, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 842, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 843, "scene": "The shorts are positioned at the back."}
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+ {"scene_index": 844, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 845, "scene": "The shorts are positioned at the center."}
847
+ {"scene_index": 846, "scene": "The shorts are positioned at the center."}
848
+ {"scene_index": 847, "scene": "The shorts are positioned at the back."}
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850
+ {"scene_index": 849, "scene": "The shorts are placed at the center."}
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+ {"scene_index": 850, "scene": "The shorts are located at the back position."}
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+ {"scene_index": 873, "scene": "The shorts are located at the back position."}
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RMC-AIDA-L_fold_shorts/annotations/subtask_annotations.jsonl ADDED
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1
+ {"subtask_index": 0, "subtask": "Grab the lower left pant leg with your left hand."}
2
+ {"subtask_index": 1, "subtask": "Grab the lower right pant leg with your right hand."}
3
+ {"subtask_index": 2, "subtask": "Fold the bottom of the shorts upward with right gripper"}
4
+ {"subtask_index": 3, "subtask": "Fold the pants from right to left with the right gripper"}
5
+ {"subtask_index": 4, "subtask": "Hold the waistband with your left hand."}
6
+ {"subtask_index": 5, "subtask": "Hold the lower right waistband with your right hand."}
7
+ {"subtask_index": 6, "subtask": "Grab the waistband with your right hand."}
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+ {"subtask_index": 7, "subtask": "Fold to the right with your left hand."}
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+ {"subtask_index": 8, "subtask": "Press the middle of the pants with your left hand."}
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+ {"subtask_index": 9, "subtask": "Fold upward with your left hand."}
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+ {"subtask_index": 10, "subtask": "Fold to the left with your right hand."}
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+ {"subtask_index": 11, "subtask": "Hold the lower left waistband with your left hand."}
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+ {"subtask_index": 12, "subtask": "Place the folded trousers onto the center area with the right grippers"}
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+ {"subtask_index": 13, "subtask": "Place the folded trousers onto the center area with right gripper"}
15
+ {"subtask_index": 14, "subtask": "Place the folded trousers onto the center area with the left grippers"}
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+ {"subtask_index": 15, "subtask": "Grasp the right lower side of the waistband of the shorts with right gripper"}
17
+ {"subtask_index": 16, "subtask": "end"}
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+ {"subtask_index": 17, "subtask": "Anomaly detected."}
19
+ {"subtask_index": 18, "subtask": "Grasp the lower left leg of the shorts with left gripper"}
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+ {"subtask_index": 19, "subtask": "Fold the shorts from right to left with right gripper"}
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+ {"subtask_index": 20, "subtask": "abnormal"}
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+ {"subtask_index": 21, "subtask": "Fold the pants from left to right with the left gripper"}
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+ {"subtask_index": 22, "subtask": "Fold the bottom of the shorts upward with left gripper"}
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+ {"subtask_index": 23, "subtask": "Fold the bottom of the pants upward with both grippers"}
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+ {"subtask_index": 24, "subtask": "End"}
26
+ {"subtask_index": 25, "subtask": "Adjust the pants with your right hand."}
27
+ {"subtask_index": 26, "subtask": "Fold upward with your right hand."}
28
+ {"subtask_index": 27, "subtask": "Adjust the pants with your left hand."}
29
+ {"subtask_index": 28, "subtask": "Press the middle of the pants with your right hand."}
30
+ {"subtask_index": 29, "subtask": "null"}
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